Visual Servoing Platform  version 3.3.1 under development (2020-07-03)
vpCircle Class Reference

#include <visp3/core/vpCircle.h>

+ Inheritance diagram for vpCircle:

Public Types

enum  vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }
 

Public Member Functions

 vpCircle ()
 
 vpCircle (const vpColVector &oP)
 
 vpCircle (double oA, double oB, double oC, double oX, double oY, double oZ, double R)
 
virtual ~vpCircle ()
 
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< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
vpCircleduplicate () const
 
double get_x () const
 
double get_y () const
 
double get_mu20 () const
 
double get_mu11 () const
 
double get_mu02 () const
 
double getA () const
 
double getB () const
 
double getC () const
 
double getX () const
 
double getY () const
 
double getZ () const
 
double getR () const
 
void projection ()
 
void projection (const vpColVector &cP, vpColVector &p) const
 
void setWorldCoordinates (const vpColVector &oP)
 
void setWorldCoordinates (double oA, double oB, double oC, double oX, double oY, double oZ, double R)
 
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
 

Static Public Member Functions

static void computeIntersectionPoint (const vpCircle &circle, const vpCameraParameters &cam, const double &rho, const double &theta, double &i, double &j)
 

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 ()
 

Detailed Description

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

Note that a 3D circle is defined from the intersection between a 3D plane and a 3D sphere.

A 3D circle has the followings parameters:

Examples:
manGeometricFeatures.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, simulateCircle2DCamVelocity.cpp, and testPoseFeatures.cpp.

Definition at line 87 of file vpCircle.h.

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

Used for memory issue especially in the vpServo class.

Enumerator
user 
vpDisplayForwardProjection 

Definition at line 73 of file vpForwardProjection.h.

Constructor & Destructor Documentation

◆ vpCircle() [1/3]

vpCircle::vpCircle ( )

Default constructor that initialize internal vectors.

Definition at line 86 of file vpCircle.cpp.

References init().

Referenced by duplicate().

◆ vpCircle() [2/3]

vpCircle::vpCircle ( const vpColVector oP_)
explicit

Construct the circle from the intersection of a plane and a sphere.

Parameters
oP_: This 7-dim vector defines the parameters oP[0], oP[1], oP[2] corresponding to parameters oA, oB, oC of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center. oP[3], oP[4], oP[5] correspond to oX, oY, oZ the coordinates of the center of the sphere. oP[6] corresponds to the radius of the sphere.
See also
setWorldCoordinates()

Definition at line 99 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

◆ vpCircle() [3/3]

vpCircle::vpCircle ( double  oA,
double  oB,
double  oC,
double  oX,
double  oY,
double  oZ,
double  R 
)

Construct the 3D circle from the intersection of a plane and a sphere with coordinates expressed in the object frame.

Parameters
oA,oB,oC: Parameters of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center.
oX: Coordinate of the center of the sphere along X-axis in the object frame.
oY: Coordinate of the center of the sphere along Y-axis in the object frame.
oZ: Coordinate of the center of the sphere along Z-axis in the object frame.
R: Radius of the sphere.
See also
setWorldCoordinates()

Definition at line 118 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

◆ ~vpCircle()

vpCircle::~vpCircle ( )
virtual

Default destructor that does nothing.

Definition at line 127 of file vpCircle.cpp.

Member Function Documentation

◆ changeFrame() [1/2]

void vpCircle::changeFrame ( const vpHomogeneousMatrix cMo,
vpColVector cP_ 
) const
virtual

From the 3D coordinates of the circle in the object frame oP that are set using for example vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R) or setWorldCoordinates(), compute the 3D coordinates of the circle in the camera frame cP = cMo * oP.

Parameters
cMo: Transformation from camera to object frame.
cP_: 3D normalized coordinates of the circle in the camera frame cP = (cA, cB, cC, cX, cY, cZ, R).

Implements vpForwardProjection.

Definition at line 242 of file vpCircle.cpp.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), display(), vpMbtDistanceCircle::getModelForDisplay(), vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), projection(), vpMbtDistanceCircle::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

◆ changeFrame() [2/2]

void vpCircle::changeFrame ( const vpHomogeneousMatrix cMo)
virtual

Perspective projection of the circle. Internal circle parameters are modified in cP.

Parameters
cMo: Homogeneous transformation from camera frame to object frame.

Implements vpForwardProjection.

Definition at line 274 of file vpCircle.cpp.

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

◆ computeIntersectionPoint()

void vpCircle::computeIntersectionPoint ( const vpCircle circle,
const vpCameraParameters cam,
const double &  rho,
const double &  theta,
double &  i,
double &  j 
)
static

Computes the coordinates of the point corresponding to the intersection between a circle and a line.

Warning
This functions assumes changeFrame() and projection() have already been called.
See also
changeFrame(), projection()
Parameters
circle: Circle to consider for the intersection.
cam: Camera parameters that have to be used for the intersection computation.
rho: The rho parameter of the line.
theta: The theta parameter of the line.
i: resulting i-coordinate of the intersection point.
j: resulting j-coordinate of the intersection point.

Definition at line 355 of file vpCircle.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpTracker::p, and vpMath::sqr().

Referenced by vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

◆ display() [1/2]

void vpCircle::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 circle in image I.

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

Implements vpForwardProjection.

Examples:
manGeometricFeatures.cpp.

Definition at line 306 of file vpCircle.cpp.

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

◆ display() [2/2]

void vpCircle::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 sphere in image I. This method is non destructive wrt. cP and p internal circle parameters.

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

Implements vpForwardProjection.

Definition at line 323 of file vpCircle.cpp.

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

◆ duplicate()

vpCircle * vpCircle::duplicate ( ) const
virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 332 of file vpCircle.cpp.

References vpCircle().

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const
inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 99 of file vpTracker.h.

◆ get_mu02()

double vpCircle::get_mu02 ( ) const
inline

Definition at line 108 of file vpCircle.h.

◆ get_mu11()

double vpCircle::get_mu11 ( ) const
inline

Definition at line 107 of file vpCircle.h.

◆ get_mu20()

double vpCircle::get_mu20 ( ) const
inline

Definition at line 106 of file vpCircle.h.

◆ get_oP()

vpColVector vpForwardProjection::get_oP ( ) const
inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 165 of file vpForwardProjection.h.

◆ get_p()

vpColVector vpTracker::get_p ( ) const
inlineinherited

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

Definition at line 97 of file vpTracker.h.

◆ get_x()

double vpCircle::get_x ( ) const
inline

Definition at line 104 of file vpCircle.h.

◆ get_y()

double vpCircle::get_y ( ) const
inline

Definition at line 105 of file vpCircle.h.

◆ getA()

double vpCircle::getA ( ) const
inline

Definition at line 110 of file vpCircle.h.

◆ getB()

double vpCircle::getB ( ) const
inline

Definition at line 111 of file vpCircle.h.

◆ getC()

double vpCircle::getC ( ) const
inline

Definition at line 112 of file vpCircle.h.

◆ getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )
inlineinherited

Definition at line 167 of file vpForwardProjection.h.

◆ getR()

double vpCircle::getR ( ) const
inline

◆ getX()

double vpCircle::getX ( ) const
inline

Definition at line 114 of file vpCircle.h.

◆ getY()

double vpCircle::getY ( ) const
inline

Definition at line 115 of file vpCircle.h.

◆ getZ()

double vpCircle::getZ ( ) const
inline

Definition at line 116 of file vpCircle.h.

◆ init()

void vpCircle::init ( )
protectedvirtual

Default initialisation of the feature parameters:

  • in the object frame: oP
  • in the camera frame: cP
  • in the image plane: p.

Implements vpForwardProjection.

Definition at line 43 of file vpCircle.cpp.

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

Referenced by vpCircle().

◆ 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 53 of file vpForwardProjection.cpp.

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

◆ project() [1/2]

◆ 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 84 of file vpForwardProjection.cpp.

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

◆ projection() [1/2]

void vpCircle::projection ( )
virtual

Perspective projection of the circle.

From the 3D parameters of the circle in the camera frame available in cP, computes the 2D parameters of the ellipse resulting from the perspective projection in the image plane. Those 2D parameters are available in p vector.

See vpCircle::projection(const vpColVector &, vpColVector &) for a more detailed description of the parameters.

Implements vpForwardProjection.

Definition at line 140 of file vpCircle.cpp.

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

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), display(), vpMbtDistanceCircle::getModelForDisplay(), vpMbtDistanceKltCylinder::getModelForDisplay(), vpMbtDistanceCylinder::getModelForDisplay(), vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

◆ projection() [2/2]

void vpCircle::projection ( const vpColVector cP_,
vpColVector p_ 
) const
virtual

Perspective projection of the circle.

Parameters
cP_3D cercle input parameters expressed in the camera frame. This 7-dim vector contains the following parameters: cA, cB, cC, cX, cY, cZ, R where
  • cA, cB, cC are the parameters of the plane with equation cA*(x-cX)+cB*(y-cY)+cC*(z-cZ)=0 passing through the 3D sphere center.
  • cX, cY, cZ are the 3D coordinates of the circle in the camera frame
  • R is the circle radius in [m].
p_2D circle output parameters. This is a 5 dimension vector. It contains the following parameters: x, y, m20, m11, m02 where:
  • x, y are the normalized coordinates of the center of the ellipse (ie the perspective projection of a 3D circle becomes a 2D ellipse in the image) in the image plane.
  • mu20, mu11, mu02 are the second order centered moments of the ellipse.

Implements vpForwardProjection.

Definition at line 158 of file vpCircle.cpp.

References changeFrame(), vpException::divideByZeroError, vpForwardProjection::oP, vpColVector::resize(), and vpMath::sqr().

◆ setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d)
inlineinherited

Definition at line 196 of file vpForwardProjection.h.

References vpTracker::init().

◆ setWorldCoordinates() [1/2]

void vpCircle::setWorldCoordinates ( const vpColVector oP_)
virtual

Set the parameters of the 3D circle in the object frame.

Parameters
oP_: This 7-dim vector defines the parameters oP[0], oP[1], oP[2] corresponding to parameters oA, oB, oC of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center. oP[3], oP[4], oP[5] correspond to oX, oY, oZ the coordinates of the center of the sphere. oP[6] corresponds to the radius of the sphere.

Implements vpForwardProjection.

Examples:
manGeometricFeatures.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, simulateCircle2DCamVelocity.cpp, and testPoseFeatures.cpp.

Definition at line 60 of file vpCircle.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceCircle::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceCylinder::buildFrom(), and vpCircle().

◆ setWorldCoordinates() [2/2]

void vpCircle::setWorldCoordinates ( double  oA,
double  oB,
double  oC,
double  oX,
double  oY,
double  oZ,
double  R 
)

Set the 3D circle coordinates in the object frame.

Parameters
oA,oB,oC: Parameters of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center.
oX: Coordinate of the center of the sphere along X-axis in the object frame.
oY: Coordinate of the center of the sphere along Y-axis in the object frame.
oZ: Coordinate of the center of the sphere along Z-axis in the object frame.
R: Radius of the sphere.

Definition at line 72 of file vpCircle.cpp.

References vpForwardProjection::oP.

◆ 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, servoBebop2.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.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-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 106 of file vpForwardProjection.cpp.

References vpForwardProjection::project().

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

Member Data Documentation

◆ cP

◆ cPAvailable

bool vpTracker::cPAvailable
inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 83 of file vpTracker.h.

Referenced by vpTracker::init(), and vpTracker::operator=().

◆ oP

◆ p