Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/core/vpForwardProjection.h>
Public Types | |
enum | vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection } |
Public Member Functions | |
Public Member Functions Inherited from vpForwardProjection | |
vpForwardProjection () | |
virtual | ~vpForwardProjection () |
virtual void | changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0 |
virtual void | changeFrame (const vpHomogeneousMatrix &cMo)=0 |
virtual void | display (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0 |
virtual void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0 |
virtual vpForwardProjection * | duplicate () const =0 |
vpColVector | get_oP () const |
vpForwardProjectionDeallocatorType | getDeallocate () |
virtual void | print () const |
virtual void | projection (const vpColVector &cP, vpColVector &p) const =0 |
virtual void | projection ()=0 |
void | project () |
void | project (const vpHomogeneousMatrix &cMo) |
void | setDeallocate (vpForwardProjectionDeallocatorType d) |
virtual void | setWorldCoordinates (const vpColVector &oP)=0 |
void | track (const vpHomogeneousMatrix &cMo) |
Public Member Functions Inherited from vpTracker | |
vpColVector | get_p () const |
vpColVector | get_cP () const |
Public Attributes | |
Public Attributes Inherited from vpTracker | |
vpColVector | p |
vpColVector | cP |
bool | cPAvailable |
Protected Member Functions | |
Protected Member Functions Inherited from vpForwardProjection | |
virtual void | init ()=0 |
Public Attributes Inherited from vpForwardProjection | |
vpColVector | oP |
Class that defines what is a generic geometric feature.
Each geometric feature has parameters expressed:
Definition at line 62 of file vpForwardProjection.h.
Used for memory issue especially in the vpServo class.
Enumerator | |
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user | |
vpDisplayForwardProjection |
Definition at line 68 of file vpForwardProjection.h.
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inline |
Definition at line 72 of file vpForwardProjection.h.
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inlinevirtual |
Destructor that does nothing.
Definition at line 75 of file vpForwardProjection.h.
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pure virtual |
Computes the features parameters in the camera frame (cP) thanks to the parameters given in the object frame (vpForwardProjection::oP) and the homogeneous matrix relative to the pose (cMo) between the object frame and the camera frame.
To set the parameters in the object frame you need to call setWorldCoordinates().
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
The features parameters in the camera frame (cP) are updated in the vpTracker::cP public attribute.
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
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pure virtual |
Computes the features parameters in the camera frame (cP) thanks to the parameters given in the object frame (vpForwardProjection::oP) and the homogeneous matrix relative to the pose (cMo) between the object frame and the camera frame.
To set the parameters in the object frame you need to call setWorldCoordinates().
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
cP | : The vector which will contain the feature parameters expressed in the camera frame. |
With this method, the vpTracker::cP public attribute is not updated.
Implemented in vpCircle, vpSphere, vpPoint, vpLine, and vpCylinder.
Referenced by project().
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pure virtual |
Displays the feature in the image I thanks to the 2D feature parameters in the image plane (vpTracker::p) and the camera parameters which enable to convert the features from meter to pixel.
I | : The image where the feature must be displayed in overlay. |
cam | : The camera parameters to enable the conversion from meter to pixel. |
color | : The desired color to display the line in the image. |
thickness | : Thickness of the feature representation. |
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
Referenced by vpProjectionDisplay::display().
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pure virtual |
Displays the feature in the image I thanks to the features in the object frame (vpForwardProjection::oP), the homogeneous matrix relative to the pose between the object frame and the camera frame and the camera parameters which enable to convert the features from meter to pixel.
I | : The image where the line must be displayed in overlay. |
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
cam | : The camera parameters to enable the conversion from meter to pixel. |
color | : The desired color to display the line in the image. |
thickness | : Thickness of the feature representation. |
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
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pure virtual |
Create an object with the same type.
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
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inlineinherited |
Return object parameters expressed in the 3D camera frame.
Definition at line 94 of file vpTracker.h.
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inline |
Return object parameters expressed in the 3D object frame.
Definition at line 160 of file vpForwardProjection.h.
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inlineinherited |
Return object parameters expressed in the 2D image plane computed by perspective projection.
Definition at line 92 of file vpTracker.h.
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inline |
Definition at line 162 of file vpForwardProjection.h.
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protectedpure virtual |
Default initialisation of the feature parameters:
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
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virtual |
Print to stdout the feature parameters in:
Definition at line 50 of file vpForwardProjection.cpp.
References vpTracker::cP, oP, vpTracker::p, and vpColVector::t().
void vpForwardProjection::project | ( | ) |
Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).
Definition at line 65 of file vpForwardProjection.cpp.
References vpTracker::cP, vpTracker::p, and projection().
Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), and track().
void vpForwardProjection::project | ( | const vpHomogeneousMatrix & | cMo | ) |
Compute the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
Definition at line 81 of file vpForwardProjection.cpp.
References changeFrame(), and projection().
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pure virtual |
Computes the feature parameters in the image plane. These parameters are than updated in the vpTracker::p public attribute.
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
Referenced by project().
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pure virtual |
Computes the feature parameters in the image plane from the parameters expressed in the camera frame.
cP | [input] : Feature parameters expressed in the camera frame. |
p | [output] : Feature parameters expressed in the image plane. |
Implemented in vpSphere, vpLine, vpCylinder, vpCircle, and vpPoint.
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inline |
Definition at line 191 of file vpForwardProjection.h.
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pure virtual |
Sets the parameters which define the feature in the object frame.
oP | : Feature parameters expressed in the object frame used to set the vpForwardProjection::oP public attribute. |
Implemented in vpSphere, vpPoint, vpLine, vpCylinder, and vpCircle.
void vpForwardProjection::track | ( | const vpHomogeneousMatrix & | cMo | ) |
Track the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).
This method is similar to project(const vpHomogeneousMatrix &).
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
Definition at line 103 of file vpForwardProjection.cpp.
References project().
Referenced by vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), vpImageDraw::drawFrame(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inherited |
Feature coordinates expressed in the camera frame cP.
Definition at line 72 of file vpTracker.h.
Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), print(), vpPose::printPoint(), project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().
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inherited |
Flag used to indicate if the feature parameters cP expressed in the camera frame are available.
Definition at line 78 of file vpTracker.h.
Referenced by vpTracker::init(), and vpTracker::operator=().
vpColVector vpForwardProjection::oP |
Feature coordinates expressed in the object frame.
Definition at line 223 of file vpForwardProjection.h.
Referenced by vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpPoint::get_oW(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::getWorldCoordinates(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpLine::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), vpSphere::setWorldCoordinates(), and vpPoint::setWorldCoordinates().
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inherited |
Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.
Definition at line 68 of file vpTracker.h.
Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpPoint::display(), vpSphere::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMeTracker::init(), vpTracker::operator=(), print(), vpPose::printPoint(), project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().