vpPoint Class Reference

#include <visp3/core/vpPoint.h>

Inheritance diagram for vpPoint:

Public Types
enum	vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection }

Public Member Functions
	vpPoint ()
	vpPoint (double oX, double oY, double oZ)
	vpPoint (const vpColVector &oP)
	vpPoint (const std::vector< double > &oP)
virtual	~vpPoint ()
void	changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP) const
void	changeFrame (const vpHomogeneousMatrix &cMo)
void	display (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void	display (const vpImage< vpRGBa > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
vpPoint *	duplicate () const
double	get_X () const
double	get_Y () const
double	get_Z () const
double	get_W () const
double	get_oX () const
double	get_oY () const
double	get_oZ () const
double	get_oW () const
double	get_x () const
double	get_y () const
double	get_w () const
void	getWorldCoordinates (double &oX, double &oY, double &oZ)
void	getWorldCoordinates (vpColVector &oP)
vpColVector	getWorldCoordinates (void)
void	getWorldCoordinates (std::vector< double > &oP)
vpPoint &	operator= (const vpPoint &vpp)=default
void	projection (const vpColVector &_cP, vpColVector &_p) const
void	projection ()
void	set_X (double cX)
void	set_Y (double cY)
void	set_Z (double cZ)
void	set_W (double cW)
void	set_oX (double oX)
void	set_oY (double oY)
void	set_oZ (double oZ)
void	set_oW (double oW)
void	set_x (double x)
void	set_y (double y)
void	set_w (double w)
void	setWorldCoordinates (double oX, double oY, double oZ)
void	setWorldCoordinates (const vpColVector &oP)
void	setWorldCoordinates (const std::vector< double > &oP)
Public Member Functions Inherited from vpForwardProjection
vpColVector	get_oP () const
vpForwardProjectionDeallocatorType	getDeallocate ()
virtual void	print () const
void	project ()
void	project (const vpHomogeneousMatrix &cMo)
void	setDeallocate (vpForwardProjectionDeallocatorType d)
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 vpForwardProjection
vpColVector	oP
Public Attributes Inherited from vpTracker
vpColVector	p
vpColVector	cP
bool	cPAvailable

Protected Member Functions
void	init ()

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpPoint &vpp)

Detailed Description

Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the camera frame and in the 2D image plane by perspective projection. All the parameters must be set in meter.

A 3D point has the followings parameters:

• in the object frame: the normalized 3D coordinates oX, oY, oZ, oW of the point. These parameters registered in vpForwardProjection::oP internal 4-dim vector are set using the constructors vpPoint(double oX, double oY, double oZ), vpPoint(const vpColVector &oP) and vpPoint(const std::vector<double> &oP) or the functions setWorldCoordinates(double oX, double oY, double oZ), setWorldCoordinates(const vpColVector &oP) and setWorldCoordinates(const std::vector<double> &oP). To get theses parameters use get_oP().
• in the camera frame: the normalized coordinates cX, cY, cZ, 1 of the point. These parameters registered in vpTracker::cP internal 4-dim vector are computed using changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const or changeFrame(const vpHomogeneousMatrix &cMo). These parameters could be retrieved using get_X(), get_Y() and get_Z(). To get theses parameters use get_cP().
• in the image plane: the 2D normalized coordinates (x, y, 1) corresponding to the perspective projection of the point. These parameters are registered in vpTracker::p internal 3-dim vector and computed using projection() and projection(const vpColVector &cP, vpColVector &p) const. They could be retrieved using get_x() and get_y(). They correspond to 2D normalized point parameters with values expressed in meters. To get theses parameters use get_p().

Examples

AROgre.cpp, AROgreBasic.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPixhawkDroneIBVS.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testAprilTag.cpp, testConvert.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testKeyPoint-4.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-chessboard-pose.cpp, tutorial-count-coins.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-points-realsense-T265.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 76 of file vpPoint.h.

Member Enumeration Documentation

vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 68 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpPoint() [1/4]

vpPoint::vpPoint

(

)

Basic constructor.

Definition at line 61 of file vpPoint.cpp.

References init().

Referenced by duplicate().

vpPoint() [2/4]

vpPoint::vpPoint	(	double	oX,
		double	oY,
		double	oZ
	)

Construction from a 3D point with coordinates in object frame.

Parameters

oX,oY,oZ

Coordinates of a 3D point in object frame.

Definition at line 67 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint() [3/4]

vpPoint::vpPoint ( const vpColVector &  oP_ )

explicit

Construction from a 3D point with coordinates in object frame.

Parameters

oP_

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 83 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint() [4/4]

vpPoint::vpPoint ( const std::vector< double > &  oP_ )

explicit

Construction from a 3D point with coordinates in object frame.

Parameters

oP_

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 99 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

~vpPoint()

virtual vpPoint::~vpPoint ( )

inlinevirtual

Destructor.

Definition at line 86 of file vpPoint.h.

Member Function Documentation

changeFrame() [1/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix &  cMo )

virtual

From the 3D coordinates of the point in the object frame oP that are set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame cP = cMo * oP.

Parameters

cMo	: Transformation from camera to object frame.

Implements vpForwardProjection.

Definition at line 260 of file vpPoint.cpp.

References vpTracker::cP, and vpForwardProjection::oP.

changeFrame() [2/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix &  cMo, vpColVector &  _cP  ) const

virtual

From the 3D coordinates of the point in the object frame oP that are set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame cP = cMo * oP.

Parameters

cMo	: Transformation from camera to object frame.
_cP	: 3D normalized coordinates of the point in the camera frame cP = (cX, cY, cZ, 1).

Implements vpForwardProjection.

Examples

servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 236 of file vpPoint.cpp.

References vpForwardProjection::oP, and vpColVector::resize().

Referenced by vpPolygon3D::changeFrame(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), display(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::updateMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().

display() [1/4]

void vpPoint::display ( const vpImage< unsigned char > &  I, const vpCameraParameters &  cam, const vpColor &  color = vpColor::green, unsigned int  thickness = 1  )

virtual

Display the projection of a 3D point in image I.

Parameters

I	: Image used as background.
cam	: Camera parameters.
color	: Color used to draw the point.
thickness	: Thickness used to draw the point.

Implements vpForwardProjection.

Examples

manGeometricFeatures.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 427 of file vpPoint.cpp.

References vpFeatureDisplay::displayPoint(), and vpTracker::p.

display() [2/4]

void vpPoint::display ( const vpImage< unsigned char > &  I, const vpHomogeneousMatrix &  cMo, const vpCameraParameters &  cam, const vpColor &  color = vpColor::green, unsigned int  thickness = 1  )

virtual

Display the projection of a 3D point in image I. This method is non destructive wrt. cP and p internal 3D point parameters.

Parameters

I	: Image used as background.
cMo	: Homogeneous transformation from camera frame to object frame. The point is considered as viewed from this camera position.
cam	: Camera parameters.
color	: Color used to draw the sphere.
thickness	: Thickness used to draw the sphere.

Implements vpForwardProjection.

Definition at line 367 of file vpPoint.cpp.

References changeFrame(), vpFeatureDisplay::displayPoint(), and projection().

display() [3/4]

void vpPoint::display	(	const vpImage< vpRGBa > &	I,
		const vpCameraParameters &	cam,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1
	)

Display the projection of a 3D point in image I.

Parameters

I	: Image used as background.
cam	: Camera parameters.
color	: Color used to draw the point.
thickness	: Thickness used to draw the point.

Definition at line 441 of file vpPoint.cpp.

References vpFeatureDisplay::displayPoint(), and vpTracker::p.

display() [4/4]

void vpPoint::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1
	)

Display the projection of a 3D point in image I. This method is non destructive wrt. cP and p internal 3D point parameters.

Parameters

I	: Image used as background.
cMo	: Homogeneous transformation from camera frame to object frame. The point is considered as viewed from this camera position.
cam	: Camera parameters.
color	: Color used to draw the sphere.
thickness	: Thickness used to draw the sphere.

Definition at line 392 of file vpPoint.cpp.

References changeFrame(), vpFeatureDisplay::displayPoint(), and projection().

duplicate()

vpPoint * vpPoint::duplicate ( ) const

virtual

For memory issue (used by the vpServo class only).

Implements vpForwardProjection.

Definition at line 350 of file vpPoint.cpp.

References vpPoint().

get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 94 of file vpTracker.h.

get_oP()

vpColVector vpForwardProjection::get_oP ( ) const

inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 160 of file vpForwardProjection.h.

get_oW()

double vpPoint::get_oW

(

)

const

Get the point oW coordinate in the object frame.

Definition at line 464 of file vpPoint.cpp.

References vpForwardProjection::oP.

get_oX()

double vpPoint::get_oX

(

)

const

Get the point oX coordinate in the object frame.

Examples

testConvert.cpp.

Definition at line 458 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceLine::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpMbTracker::getGravityCenter(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_oY()

double vpPoint::get_oY

(

)

const

Get the point oY coordinate in the object frame.

Examples

testConvert.cpp.

Definition at line 460 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceLine::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_oZ()

double vpPoint::get_oZ

(

)

const

Get the point oZ coordinate in the object frame.

Examples

testConvert.cpp.

Definition at line 462 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceLine::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_p()

vpColVector vpTracker::get_p ( ) const

inlineinherited

Return object parameters expressed in the 2D image plane computed by perspective projection.

Definition at line 92 of file vpTracker.h.

get_W()

double vpPoint::get_W

(

)

const

Get the point cW coordinate in the camera frame.

Definition at line 455 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

get_w()

double vpPoint::get_w

(

)

const

Get the point w coordinate in the image plane.

Examples

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, and homographyHartleyDLT2DObject.cpp.

Definition at line 471 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*().

get_X()

double vpPoint::get_X

(

)

const

Get the point cX coordinate in the camera frame.

Definition at line 449 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

get_x()

double vpPoint::get_x

(

)

const

Get the point x coordinate in the image plane.

Examples

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, and testFindMatch.cpp.

Definition at line 467 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_Y()

double vpPoint::get_Y

(

)

const

Get the point cY coordinate in the camera frame.

Definition at line 451 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

get_y()

double vpPoint::get_y

(

)

const

Get the point y coordinate in the image plane.

Examples

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, and testFindMatch.cpp.

Definition at line 469 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_Z()

double vpPoint::get_Z

(

)

const

Get the point cZ coordinate in the camera frame.

Examples

servoAfma62DhalfCamVelocity.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 453 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpFeatureBuilder::create(), vpProjectionDisplay::displayCamera(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 162 of file vpForwardProjection.h.

getWorldCoordinates() [1/4]

void vpPoint::getWorldCoordinates	(	double &	oX,
		double &	oY,
		double &	oZ
	)

Get the point object frame coordinates.

Definition at line 175 of file vpPoint.cpp.

References vpForwardProjection::oP.

getWorldCoordinates() [2/4]

void vpPoint::getWorldCoordinates

(

std::vector< double > &

oP_

)

Get the point object frame normalized coordinates.

Parameters

oP_	Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 196 of file vpPoint.cpp.

References vpForwardProjection::oP, vpColVector::resize(), and vpArray2D< Type >::size().

getWorldCoordinates() [3/4]

vpColVector vpPoint::getWorldCoordinates

(

void

)

Return the point object frame normalized coordinates.

Returns

Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 209 of file vpPoint.cpp.

References vpForwardProjection::oP.

getWorldCoordinates() [4/4]

void vpPoint::getWorldCoordinates

(

vpColVector &

oP_

)

Get the point object frame normalized coordinates.

Parameters

oP_	Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 188 of file vpPoint.cpp.

References vpForwardProjection::oP.

init()

void vpPoint::init ( )

protectedvirtual

Basic construction.

Implements vpForwardProjection.

Definition at line 45 of file vpPoint.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, vpColVector::resize(), and set_Z().

Referenced by vpPoint().

operator=()

vpPoint& vpPoint::operator= ( const vpPoint &  vpp )

default

print()

void vpForwardProjection::print ( ) const

virtualinherited

Print to stdout the feature parameters in:

• the object frame
• the camera frame
• the image plane.

Examples

servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, and servoSimuSquareLine2DCamVelocityDisplay.cpp.

Definition at line 50 of file vpForwardProjection.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().

project() [1/2]

void vpForwardProjection::project ( )

inherited

Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).

Warning

Be careful to update vpTracker::p and vpTracker::cP public attributes before the call of this method.

Examples

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, and testPoseFeatures.cpp.

Definition at line 65 of file vpForwardProjection.cpp.

References vpTracker::cP, vpTracker::p, and vpForwardProjection::projection().

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), and vpForwardProjection::track().

project() [2/2]

void vpForwardProjection::project ( const vpHomogeneousMatrix &  cMo )

inherited

Compute the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).

Warning

The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().

Parameters

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 vpForwardProjection::changeFrame(), and vpForwardProjection::projection().

projection() [1/2]

void vpPoint::projection ( )

virtual

Perspective projection of the 3D point.

Projection onto the image plane of the point. Update the object attribute p (2D homogeneous coordinates) according to object attribute cP (current 3D coordinates in the camera frame).

Implements vpForwardProjection.

Definition at line 481 of file vpPoint.cpp.

References vpTracker::cP, and vpTracker::p.

Referenced by display().

projection() [2/2]

void vpPoint::projection ( const vpColVector &  _cP, vpColVector &  _p  ) const

virtual

Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP, output : the 2D coordinates _p.

Compute the perspective projection of a point _cP.

Parameters

_cP	: 3-dim vector cP = (cX, cY, cZ) or 4-dim vector cP = (cX, cY, cZ, 1) corresponding to the normalized coordinates of the 3D point in the camera frame.
_p	: Coordinates of the point in the image plane obtained by perspective projection.

Implements vpForwardProjection.

Examples

servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 219 of file vpPoint.cpp.

References vpColVector::resize().

Referenced by vpPolygon3D::changeFrame(), vpPolygon3D::computePolygonClipped(), vpMbtDistanceCylinder::getModelForDisplay(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

set_oW()

void vpPoint::set_oW

(

double

oW

)

Set the point oW coordinate in the object frame.

Definition at line 505 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*().

set_oX()

void vpPoint::set_oX

(

double

oX

)

Set the point oX coordinate in the object frame.

Examples

testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 499 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

set_oY()

void vpPoint::set_oY

(

double

oY

)

Set the point oY coordinate in the object frame.

Examples

testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 501 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

set_oZ()

void vpPoint::set_oZ

(

double

oZ

)

Set the point oZ coordinate in the object frame.

Examples

testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 503 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

set_W()

void vpPoint::set_W

(

double

cW

)

Set the point cW coordinate in the camera frame.

Definition at line 496 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_w()

void vpPoint::set_w

(

double

w

)

Set the point w coordinate in the image plane.

Definition at line 512 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*().

set_X()

void vpPoint::set_X

(

double

cX

)

Set the point cX coordinate in the camera frame.

Definition at line 490 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_x()

void vpPoint::set_x

(

double

x

)

Set the point x coordinate in the image plane.

Examples

AROgre.cpp, AROgreBasic.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testAprilTag.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, and tutorial-count-coins.cpp.

Definition at line 508 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpPose::findMatch(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

set_Y()

void vpPoint::set_Y

(

double

cY

)

Set the point cY coordinate in the camera frame.

Definition at line 492 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_y()

void vpPoint::set_y

(

double

y

)

Set the point y coordinate in the image plane.

Examples

AROgre.cpp, AROgreBasic.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testAprilTag.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, and tutorial-count-coins.cpp.

Definition at line 510 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpPose::findMatch(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

set_Z()

void vpPoint::set_Z

(

double

cZ

)

Set the point cZ coordinate in the camera frame.

Definition at line 494 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d )

inlineinherited

Definition at line 191 of file vpForwardProjection.h.

setWorldCoordinates() [1/3]

void vpPoint::setWorldCoordinates

(

const std::vector< double > &

oP_

)

Set the 3D point object frame coordinates.

Parameters

oP_

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 156 of file vpPoint.cpp.

References vpException::dimensionError, and vpForwardProjection::oP.

setWorldCoordinates() [2/3]

void vpPoint::setWorldCoordinates ( const vpColVector &  oP_ )

virtual

Set the 3D point object frame coordinates.

Parameters

oP_

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Implements vpForwardProjection.

Definition at line 128 of file vpPoint.cpp.

References vpException::dimensionError, vpForwardProjection::oP, and vpArray2D< Type >::size().

setWorldCoordinates() [3/3]

void vpPoint::setWorldCoordinates	(	double	oX,
		double	oY,
		double	oZ
	)

Set the 3D point object frame coordinates oP = (oX, oY, oZ, 1).

Parameters

oX,oY,oZ

Coordinates of a 3D point in the object frame.

Examples

AROgre.cpp, AROgreBasic.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, and tutorial-ibvs-4pts.cpp.

Definition at line 110 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::getGravityCenter(), vpProjectionDisplay::init(), vpMbtDistanceKltCylinder::init(), vpMbTracker::loadCAOModel(), vpKeyPoint::matchPoint(), vpPose::poseFromRectangle(), vpWireFrameSimulator::projectCameraTrajectory(), and vpPoint().

track()

void vpForwardProjection::track ( const vpHomogeneousMatrix &  cMo )

inherited

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 &).

Warning

The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().

Parameters

cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.

Examples

mbot-apriltag-ibvs.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 103 of file vpForwardProjection.cpp.

References vpForwardProjection::project().

Referenced by vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), vpImageDraw::drawFrame(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

Friends And Related Function Documentation

operator<<

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os, const vpPoint &  vpp  )

friend

Definition at line 405 of file vpPoint.cpp.

Member Data Documentation

cP

vpColVector vpTracker::cP

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(), changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), get_W(), get_X(), get_Y(), get_Z(), vpCircle::init(), vpCylinder::init(), vpLine::init(), init(), vpSphere::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), projection(), vpSphere::projection(), set_W(), set_X(), set_Y(), and set_Z().

cPAvailable

bool vpTracker::cPAvailable

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=().

oP

vpColVector vpForwardProjection::oP

inherited

Feature coordinates expressed in the object frame.

Definition at line 223 of file vpForwardProjection.h.

Referenced by vpCylinder::changeFrame(), vpLine::changeFrame(), changeFrame(), vpSphere::changeFrame(), vpCircle::changeFrame(), get_oW(), get_oX(), get_oY(), get_oZ(), getWorldCoordinates(), vpCircle::init(), vpCylinder::init(), vpLine::init(), init(), vpSphere::init(), vpForwardProjection::print(), vpPose::printPoint(), set_oW(), set_oX(), set_oY(), set_oZ(), vpLine::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), vpSphere::setWorldCoordinates(), and setWorldCoordinates().

p

vpColVector vpTracker::p

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(), display(), vpSphere::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpImageDraw::drawFrame(), get_w(), get_x(), get_y(), vpCircle::init(), vpCylinder::init(), vpLine::init(), init(), vpSphere::init(), vpMeTracker::init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), projection(), vpSphere::projection(), set_w(), set_x(), and set_y().