Visual Servoing Platform
version 3.6.1 under development (2024-11-14)
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#include <visp3/core/vpSphere.h>
Public Types | |
enum | vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection } |
Public Member Functions | |
vpSphere () | |
VP_EXPLICIT | vpSphere (const vpColVector &oP) |
vpSphere (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 |
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< 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 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) |
vpSphere * | duplicate () const VP_OVERRIDE |
double | get_x () const |
double | get_y () const |
double | get_n20 () const |
double | get_n11 () const |
double | get_n02 () const |
double | getX () const |
double | getY () const |
double | getZ () const |
double | getR () const |
void | projection () VP_OVERRIDE |
void | projection (const vpColVector &cP, vpColVector &p) const VP_OVERRIDE |
void | setWorldCoordinates (const vpColVector &oP) VP_OVERRIDE |
void | setWorldCoordinates (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 |
Protected Member Functions | |
void | init () VP_OVERRIDE |
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in the camera frame and in the 2D image plane by perspective projection. All the parameters must be set in meter.
A sphere has the followings parameters:
Definition at line 79 of file vpSphere.h.
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inherited |
Used for memory issue especially in the vpServo class.
Enumerator | |
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user | |
vpDisplayForwardProjection |
Definition at line 70 of file vpForwardProjection.h.
vpSphere::vpSphere | ( | ) |
Default constructor.
Definition at line 85 of file vpSphere.cpp.
References init().
Referenced by duplicate().
vpSphere::vpSphere | ( | const vpColVector & | oP_ | ) |
Create a sphere from a 4-dim vector that contains 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.
oP_ | : 4-dim vector that contains [oX oY oZ R]^T where oX, oY, oZ are the 3D coordinates of the sphere center in [m] expressed in the sphere frame, and R is the sphere radius in [m]. |
Definition at line 95 of file vpSphere.cpp.
References init(), and setWorldCoordinates().
vpSphere::vpSphere | ( | double | oX, |
double | oY, | ||
double | oZ, | ||
double | R | ||
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Create a sphere from the 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.
oX | : 3D coordinate of the sphere center along X axis in [m]. |
oY | : 3D coordinate of the sphere center along X axis in [m]. |
oZ | : 3D coordinate of the sphere center along X axis in [m]. |
R | : Sphere radius in [m]. |
Definition at line 110 of file vpSphere.cpp.
References init(), and setWorldCoordinates().
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virtual |
Perspective projection of the sphere. Internal sphere parameters are modified in cP.
cMo | : Homogeneous transformation from camera frame to object frame. |
Implements vpForwardProjection.
Definition at line 209 of file vpSphere.cpp.
References changeFrame(), and vpTracker::cP.
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Perspective projection of the sphere. This method doesn't modify internal sphere parameters cP.
cMo | : Homogeneous transformation from camera frame to sphere frame. |
cP_ | : Parameters of the sphere in the camera frame (cX, cY, cZ, R). |
Implements vpForwardProjection.
Definition at line 218 of file vpSphere.cpp.
References vpForwardProjection::oP, and vpColVector::resize().
Referenced by changeFrame(), and display().
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virtual |
Display the projection of a 3D sphere in image I.
I | : Image used as background. |
cam | : Camera parameters. |
color | : Color used to draw the sphere. |
thickness | : Thickness used to draw the sphere. |
Implements vpForwardProjection.
Definition at line 305 of file vpSphere.cpp.
References vpFeatureDisplay::displayEllipse(), and vpTracker::p.
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virtual |
Display the projection of a 3D sphere in image I. This method is non destructive wrt. cP and p internal sphere parameters.
I | : Image used as background. |
cMo | : Homogeneous transformation from camera frame to object frame. The sphere 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 258 of file vpSphere.cpp.
References changeFrame(), vpFeatureDisplay::displayEllipse(), and projection().
void vpSphere::display | ( | const vpImage< vpRGBa > & | I, |
const vpCameraParameters & | cam, | ||
const vpColor & | color = vpColor::green , |
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unsigned int | thickness = 1 |
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Display the projection of a 3D sphere in image I.
I | : Image used as background. |
cam | : Camera parameters. |
color | : Color used to draw the sphere. |
thickness | : Thickness used to draw the sphere. |
Definition at line 324 of file vpSphere.cpp.
References vpFeatureDisplay::displayEllipse(), and vpTracker::p.
void vpSphere::display | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | color = vpColor::green , |
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unsigned int | thickness = 1 |
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Display the projection of a 3D sphere in image I. This method is non destructive wrt. cP and p internal sphere parameters.
I | : Image used as background. |
cMo | : Homogeneous transformation from camera frame to object frame. The sphere 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 283 of file vpSphere.cpp.
References changeFrame(), vpFeatureDisplay::displayEllipse(), and projection().
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virtual |
For memory issue (used by the vpServo class only).
Implements vpForwardProjection.
Definition at line 241 of file vpSphere.cpp.
References vpSphere().
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inlineinherited |
Return object parameters expressed in the 3D camera frame.
Definition at line 95 of file vpTracker.h.
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Definition at line 106 of file vpSphere.h.
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Definition at line 105 of file vpSphere.h.
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Definition at line 104 of file vpSphere.h.
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inlineinherited |
Return object parameters expressed in the 3D object frame.
Definition at line 155 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 93 of file vpTracker.h.
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Definition at line 101 of file vpSphere.h.
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Definition at line 102 of file vpSphere.h.
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inlineinherited |
Definition at line 157 of file vpForwardProjection.h.
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Definition at line 111 of file vpSphere.h.
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Definition at line 108 of file vpSphere.h.
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Definition at line 109 of file vpSphere.h.
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Definition at line 110 of file vpSphere.h.
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Initialize internal sphere parameters.
Implements vpForwardProjection.
Definition at line 42 of file vpSphere.cpp.
References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::resize().
Referenced by vpSphere().
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virtualinherited |
Print to stdout the feature parameters in:
Definition at line 49 of file vpForwardProjection.cpp.
References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().
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inherited |
Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).
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().
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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).
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().
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Perspective projection of the sphere. This method updates internal parameters (cP and p).
See vpSphere::projection(const vpColVector &, vpColVector &) const for a more detailed description of the parameters.
Implements vpForwardProjection.
Definition at line 123 of file vpSphere.cpp.
References vpTracker::cP, and vpTracker::p.
Referenced by display().
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Perspective projection of the sphere. Internal parameters (cP and p) are not modified.
[in] | cP_ | : 4-dim vector corresponding to the sphere parameters in the camera frame. |
[out] | p_ | : 5-dim vector corresponding to the sphere parameters in the image plane. It contains the following parameters: x, y, n20, n11, n02 where:
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Implements vpForwardProjection.
Definition at line 139 of file vpSphere.cpp.
References vpException::fatalError, vpColVector::resize(), and vpMath::sqr().
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Definition at line 185 of file vpForwardProjection.h.
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Set sphere 3D parameters from a 4-dim vector that contains 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.
oP_ | : 4-dim vector that contains [oX oY oZ R]^T where oX, oY, oZ are the 3D coordinates of the sphere center in [m] expressed in the object frame, and R is the sphere radius in [m]. |
Implements vpForwardProjection.
Definition at line 59 of file vpSphere.cpp.
References vpForwardProjection::oP.
Referenced by vpSphere().
void vpSphere::setWorldCoordinates | ( | double | oX, |
double | oY, | ||
double | oZ, | ||
double | R | ||
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Set sphere 3D parameters from the 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.
oX | : 3D coordinate of the sphere center along X axis in [m]. |
oY | : 3D coordinate of the sphere center along X axis in [m]. |
oZ | : 3D coordinate of the sphere center along X axis in [m]. |
R | : Sphere radius in [m]. |
Definition at line 70 of file vpSphere.cpp.
References vpForwardProjection::oP.
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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 &).
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
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().
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Feature coordinates expressed in the camera frame cP.
Definition at line 73 of file vpTracker.h.
Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().
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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=().
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Feature coordinates expressed in the object frame.
Definition at line 205 of file vpForwardProjection.h.
Referenced by vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), 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(), init(), vpForwardProjection::print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpLine::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), setWorldCoordinates(), and vpPoint::setWorldCoordinates().
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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(), vpCylinder::display(), vpLine::display(), vpPoint::display(), display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpMeTracker::init(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().