#include <visp3/core/vpCylinder.h>

Inheritance diagram for vpCylinder:

Public Types
enum	vpLineCylinderType { line1 , line2 }

enum	vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection }

Public Member Functions
	vpCylinder ()

VP_EXPLICIT	vpCylinder (const vpColVector &oP)

	vpCylinder (double oA, double oB, double oC, double oX, double oY, double oZ, double R)

void	changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP) const VP_OVERRIDE

void	changeFrame (const vpHomogeneousMatrix &cMo) VP_OVERRIDE

double	computeZ (double x, double y) const

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

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) VP_OVERRIDE

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

vpCylinder *	duplicate () const VP_OVERRIDE

double	getRho1 () const

double	getTheta1 () const

double	getRho2 () const

double	getTheta2 () const

double	getA () const

double	getB () const

double	getC () const

double	getX () const

double	getY () const

double	getZ () const

double	getR () const

void	init () VP_OVERRIDE

void	projection () VP_OVERRIDE

void	projection (const vpColVector &cP, vpColVector &p) const VP_OVERRIDE

void	setWorldCoordinates (const vpColVector &oP) VP_OVERRIDE

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

Public Attributes
Public Attributes Inherited from vpForwardProjection
vpColVector	oP

Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Detailed Description

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

A 3D cylinder of radius R is defined by the set of circles of radius R whose center belongs to a straight line perpendicular to the plane of the circles.

A 3D cylinder has the followings parameters:

in the object frame: the cylinder is represented by the equation: $(X - oX)^2 + (Y - oY)^2 + (Z - oZ)^2 - (oA \; X + oB \; Y + oC \; Z)^2 - R^2 = 0$ with
$\left\{ \begin{array}{l} oA^2 + oB^2 + oC^2 = 1 \\ oA \; oX + oB \; oY + oC \; oZ = 0 \end{array} \right.$
where R is the radius of the cylinder, oA, oB, oC are the coordinates of its direction vector and oX, oY, oZ are the coordinates of the nearest point belonging to the cylinder axis from the projection center. The corresponding parameters are located in vpForwardProjection::oP 7-dim internal vector. They correspond to oP = (oA, oB, oC, oX, oY, oZ, R). Setting the cylinder parameters is achieved through the constructors with parameters or setWorldCoordinates() methods. To get theses parameters use get_oP().
in the camera frame: parameters are saved in vpTracker::cP 7-dim internal vector with cP =(cA, cB, cC, cX, cY, cZ, R). Considering the set of parameters oP expressed in the object frame, cylinder coordinates expressed in the camera frame are obtained using changeFrame(). To get these parameters use get_cP().
in the 2D image plane: parameters are saved in vpTracker::p 4-dim vector. They correspond to p = ( $\rho_1$ , $\theta_1$ , $\rho_2$ , $\theta_2$ ), noting that for non-degenerated cases, the perspective projection of a cylinder on the image plane is a set of two straight lines with equation:
$\left\{ \begin{array}{lll} x \;\cos\theta_1 + x \;\sin\theta_1 - \rho_1 = 0 \\ y \;\cos\theta_2 + y \;\sin\theta_2 - \rho_2 = 0 \end{array} \right.$

Perspective projection is achieved using projection() methods. The methods get_p(), getRho1(), getTheta1() and getRho2(), getTheta2() allow to access to the projected line parameters.

Examples: manGeometricFeatures.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, and servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 100 of file vpCylinder.h.

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 70 of file vpForwardProjection.h.

◆ vpLineCylinderType

enum vpCylinder::vpLineCylinderType

Enumerator
line1	First limb of the cylinder.
line2	Second limb of the cylinder.

Definition at line 103 of file vpCylinder.h.

Constructor & Destructor Documentation

◆ vpCylinder() [1/3]

vpCylinder::vpCylinder ( )

Default constructor.

Definition at line 86 of file vpCylinder.cpp.

References init().

Referenced by duplicate().

◆ vpCylinder() [2/3]

vpCylinder::vpCylinder ( const vpColVector & o_P )

Create and initialize a cylinder with parameters oP = (oA, oB, oC, oX, oY, oZ, R) expressed in the object frame.

Parameters

o_P	: 7-dim vector of parameters.

vpCylinder cylinder;
double oA, oB, oC, oX, oY, oZ, R;
...
vpColVector oP({oA, oB, oC, oX, oY, oZ, R});
vpCylinder cylinder(oP);

See also: setWorldCoordinates(const vpColVector&)

Definition at line 103 of file vpCylinder.cpp.

References init(), and setWorldCoordinates().

◆ vpCylinder() [3/3]

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

Create and initialize a cylinder with parameters oP = (oA, oB, oC, oX, oY, oZ, R) expressed in the object frame.

Parameters

oA,oB,oC,oX,oY,oZ,R : Cylinder parameters expressed in the object frame.

See also: setWorldCoordinates(const double,const double,const double,const double,const double,const double,const double)

Definition at line 118 of file vpCylinder.cpp.

References init(), and setWorldCoordinates().

Member Function Documentation

◆ changeFrame() [1/2]

void vpCylinder::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

From the cylinder oP parameters expressed in the object frame, compute the cylinder internal parameters cP expressed in the camera frame.

Parameters

cMo	: Camera to object frame transformation.

See also: changeFrame(const vpHomogeneousMatrix &, vpColVector &) const

Implements vpForwardProjection.

Definition at line 230 of file vpCylinder.cpp.

References changeFrame(), and vpTracker::cP.

◆ changeFrame() [2/2]

void vpCylinder::changeFrame	(	const vpHomogeneousMatrix &	cMo,
		vpColVector &	cP_
	)		const

virtual

From the cylinder parameters oP expressed in the object frame, compute the cylinder parameters cP expressed in the camera frame.

Parameters

cMo	: Camera to object frame transformation.
cP_	[out] : Parameters cP expressed in the camera frame.

See also: changeFrame(const vpHomogeneousMatrix &)

Implements vpForwardProjection.

Definition at line 242 of file vpCylinder.cpp.

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

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

◆ computeZ()

double vpCylinder::computeZ	(	double	x,
		double	y
	)		const

Compute the Z coordinate for the given normalized coordinate in the camera frame.

Definition at line 337 of file vpCylinder.cpp.

References getA(), getB(), getC(), getR(), getX(), getY(), and getZ().

◆ display() [1/4]

void vpCylinder::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 cylinder in image I as two lines corresponding to the limbs.

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.

Definition at line 405 of file vpCylinder.cpp.

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

◆ display() [2/4]

void vpCylinder::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 cylinder in image I as two lines corresponding to the limbs. 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 365 of file vpCylinder.cpp.

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

◆ display() [3/4]

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

Display the projection of a 3D cylinder in image I as two lines corresponding to the limbs.

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 419 of file vpCylinder.cpp.

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

◆ display() [4/4]

void vpCylinder::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 cylinder in image I as two lines corresponding to the limbs. 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 387 of file vpCylinder.cpp.

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

◆ duplicate()

vpCylinder * vpCylinder::duplicate ( ) const

virtual

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

Implements vpForwardProjection.

Definition at line 347 of file vpCylinder.cpp.

References vpCylinder().

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 95 of file vpTracker.h.

◆ get_oP()

vpColVector vpForwardProjection::get_oP ( ) const

inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 155 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 93 of file vpTracker.h.

◆ getA()

double vpCylinder::getA ( ) const

inline

Return cylinder cA parameter expressed in the camera frame.

Definition at line 158 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getB()

double vpCylinder::getB ( ) const

inline

Return cylinder cB parameter expressed in the camera frame.

Definition at line 163 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getC()

double vpCylinder::getC ( ) const

inline

Return cylinder cC parameter expressed in the camera frame.

Definition at line 168 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 157 of file vpForwardProjection.h.

◆ getR()

double vpCylinder::getR ( ) const

inline

Return cylinder R parameter corresponding to the cylinder radius.

Definition at line 188 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getRho1()

double vpCylinder::getRho1 ( ) const

inline

Return the $\rho_1$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See also: getTheta1()

Definition at line 134 of file vpCylinder.h.

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

◆ getRho2()

double vpCylinder::getRho2 ( ) const

inline

Return the $\rho_2$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See also: getTheta2()

Definition at line 147 of file vpCylinder.h.

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

◆ getTheta1()

double vpCylinder::getTheta1 ( ) const

inline

Return the $\theta_1$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See also: getRho1()

Definition at line 140 of file vpCylinder.h.

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

◆ getTheta2()

double vpCylinder::getTheta2 ( ) const

inline

Return the $\theta_2$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See also: getRho2()

Definition at line 153 of file vpCylinder.h.

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

◆ getX()

double vpCylinder::getX ( ) const

inline

Return cylinder cX parameter expressed in the camera frame.

Definition at line 173 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getY()

double vpCylinder::getY ( ) const

inline

Return cylinder cY parameter expressed in the camera frame.

Definition at line 178 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ getZ()

double vpCylinder::getZ ( ) const

inline

Return cylinder cZ parameter expressed in the camera frame.

Definition at line 183 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

◆ init()

BEGIN_VISP_NAMESPACE void vpCylinder::init ( )

virtual

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 40 of file vpCylinder.cpp.

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

Referenced by vpCylinder().

◆ print()

BEGIN_VISP_NAMESPACE 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 49 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: catchPoseRansac2.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, and testPoseFeatures.cpp.

Definition at line 64 of file vpForwardProjection.cpp.

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

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpMbtFaceDepthNormal::planeIsInvalid(), 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 80 of file vpForwardProjection.cpp.

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

◆ projection() [1/2]

void vpCylinder::projection ( )

virtual

Perspective projection of the cylinder.

From the parameters of the cylinder in the camera frame, compute the perspective projection of the cylinder in the image plane.

vpCylinder cylinder;
vpColVector oP(7);
double oA, oB, oC, oX, oY, oZ, R;
...
vpColVector oP({oA, oB, oC, oX, oY, oZ, R});
cylinder.setWorldCoordinates(oP); // Set the cylinder world frame parameters
 
vpHomogeneousMatrix cMo;          // Camera to world frame transformation
...
cylinder.changeFrame(cMo);        // Update internal cP parameters
 
cylinder.projection();            // Compute the perspective projection

See also: projection(const vpColVector &, vpColVector &)

Implements vpForwardProjection.

Definition at line 147 of file vpCylinder.cpp.

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

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

◆ projection() [2/2]

void vpCylinder::projection	(	const vpColVector &	cP_,
		vpColVector &	p_
	)		const

virtual

Perspective projection of the cylinder.

From the parameters of the cylinder in the camera frame $c{\bf P}$ , compute the perspective projection of the cylinder in the image plane.

Parameters

cP_	[in] : Cylinder parameters in the camera frame.
p_	[out] : Parameters of the cylinder in the image plane obtained by perspective projection.

Exceptions

vpException::fatalError : The camera is inside the cylinder.

vpCylinder cylinder;
vpColVector oP(7);
// Initialize oP[] with A,B,C,X0,X0,Z0,R parameters
cylinder.setWorldCoordinates(oP); // Set the cylinder world frame parameters
 
vpHomogeneousMatrix cMo;          // Camera to world frame transformation
vpColVector cP(7);                // Parameters of the cylinder in the
camera frame cylinder.changeFrame(cMo, cP);    // Update cP parameters
 
vpColVector p(4);                 // Parameters of the cylinder in the image
plane cylinder.projection(cP, p);       // Compute the perspective
projection and update p 

See also: projection()

Implements vpForwardProjection.

Definition at line 177 of file vpCylinder.cpp.

References vpException::fatalError, and vpColVector::resize().

◆ setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 185 of file vpForwardProjection.h.

◆ setWorldCoordinates() [1/2]

void vpCylinder::setWorldCoordinates ( const vpColVector & o_P )

virtual

Set the cylinder parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame.

Parameters

o_P	: Vector of parameters $^{o}{\bf P}$ .

vpCylinder cylinder;
double oA, oB, oC, oX, oY, oZ, R;
...
vpColVector oP({oA, oB, oC, oX, oY, oZ, R});
cylinder.setWorldCoordinates(oP);

Implements vpForwardProjection.

Examples: manGeometricFeatures.cpp.

Definition at line 63 of file vpCylinder.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceCylinder::buildFrom(), and vpCylinder().

◆ setWorldCoordinates() [2/2]

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

Set the cylinder parameters oP = (oA, oB, oC, oX, oY, oZ, R) expressed in the object frame.

Parameters

oA,oB,oC,oX,oY,oZ,R : Cylinder parameters in the object frame.

Definition at line 72 of file vpCylinder.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, 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, testPoint.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 102 of file vpForwardProjection.cpp.

References vpForwardProjection::project().

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

Member Data Documentation

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Examples: testPoint.cpp.

Definition at line 73 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::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 79 of file vpTracker.h.

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

◆ oP

vpColVector vpForwardProjection::oP

inherited

Feature coordinates expressed in the object frame.

Examples: testPoint.cpp.

Definition at line 205 of file vpForwardProjection.h.

Referenced by 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(), init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpForwardProjection::print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpLine::setWorldCoordinates(), vpCircle::setWorldCoordinates(), setWorldCoordinates(), vpSphere::setWorldCoordinates(), and vpPoint::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 69 of file vpTracker.h.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpCircle::display(), 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(), vpMeTracker::init(), vpCircle::init(), init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

◆ vpLineCylinderType

Constructor & Destructor Documentation

◆ vpCylinder() [1/3]

◆ vpCylinder() [2/3]

◆ vpCylinder() [3/3]

Member Function Documentation

◆ changeFrame() [1/2]

◆ changeFrame() [2/2]

◆ computeZ()

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ duplicate()

◆ get_cP()

◆ get_oP()

◆ get_p()

◆ getA()

◆ getB()

◆ getC()

◆ getDeallocate()

◆ getR()

◆ getRho1()

◆ getRho2()

◆ getTheta1()

◆ getTheta2()

◆ getX()

◆ getY()

◆ getZ()

◆ init()

◆ print()

◆ project() [1/2]

◆ project() [2/2]

◆ projection() [1/2]

◆ projection() [2/2]

◆ setDeallocate()

◆ setWorldCoordinates() [1/2]

◆ setWorldCoordinates() [2/2]

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ oP

◆ p