36 #include <visp3/core/vpFeatureDisplay.h>
39 #include <visp3/core/vpMeterPixelConversion.h>
42 #include <visp3/core/vpDisplay.h>
45 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpMath.h>
50 #include <visp3/core/vpImagePoint.h>
64 const vpColor &color,
unsigned int thickness)
89 double co = cos(thetap);
90 double si = sin(thetap);
97 if (fabs(a) < fabs(b)) {
100 ip2.
set_ij(h, (-c - a * h) / b);
105 ip2.
set_ij((-c - b * w) / a, w);
123 const vpColor &color,
unsigned int thickness)
125 displayLine(rho1, theta1, cam, I, color, thickness);
126 displayLine(rho2, theta2, cam, I, color, thickness);
148 const vpColor &color,
unsigned int thickness)
151 double n20_p, n11_p, n02_p;
175 const vpColor &color,
unsigned int thickness)
194 const vpColor &color,
unsigned int thickness)
201 double co = cos(thetap);
202 double si = sin(thetap);
209 if (fabs(a) < fabs(b)) {
212 ip2.
set_ij(h, (-c - a * h) / b);
217 ip2.
set_ij((-c - b * w) / a, w);
235 unsigned int thickness)
237 displayLine(rho1, theta1, cam, I, color, thickness);
238 displayLine(rho2, theta2, cam, I, color, thickness);
260 unsigned int thickness)
263 double n20_p, n11_p, n02_p;
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Class to define RGB colors available for display functionalities.
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint ¢er, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void displayCylinder(double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayLine(double rho, double theta, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayEllipse(double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_ij(double ii, double jj)
unsigned int getWidth() const
unsigned int getHeight() const
static void convertLine(const vpCameraParameters &cam, const double &rho_m, const double &theta_m, double &rho_p, double &theta_p)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
static void convertEllipse(const vpCameraParameters &cam, const vpSphere &sphere, vpImagePoint ¢er_p, double &n20_p, double &n11_p, double &n02_p)