ForwardProjection¶

class ForwardProjection¶

Bases: Tracker

Class that defines what is a generic geometric feature.

Each geometric feature has parameters expressed:

in the object frame oP . These parameters are located in the public attribute vpForwardProjection::oP .
in the camera frame cP . These parameters are located in the public attribute vpTracker::cP .
in the image plane p . These parameters are located in the public attribute vpTracker::p . They correspond to normalized coordinates of the feature expressed in meters.

Methods

`__init__`
`getDeallocate`
`get_oP`	Return object parameters expressed in the 3D object frame.
`print`	Print to stdout the feature parameters in:
`project`	Overloaded function.
`setDeallocate`
`track`	Track the feature parameters in the camera frame ( vpTracker::cP ) and than compute the projection of these parameters in the image plane ( vpTracker::p ).

Inherited Methods

`p`
`cPAvailable`
`get_p`	Return object parameters expressed in the 2D image plane computed by perspective projection.
`cP`
`get_cP`	Return object parameters expressed in the 3D camera frame.

Operators

`__annotations__`
`__doc__`
`__init__`
`__module__`

Attributes

`__annotations__`
`cP`
`cPAvailable`
`oP`
`p`
`user`
`vpDisplayForwardProjection`

class ForwardProjectionDeallocatorType(self, value: int)¶

Bases: pybind11_object

Used for memory issue especially in the vpServo class.

Values:

user
vpDisplayForwardProjection

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(*args, **kwargs)¶

getDeallocate(self) → visp._visp.core.ForwardProjection.ForwardProjectionDeallocatorType¶

get_cP(self) → visp._visp.core.ColVector¶: Return object parameters expressed in the 3D camera frame.

get_oP(self) → visp._visp.core.ColVector¶: Return object parameters expressed in the 3D object frame.

get_p(self) → visp._visp.core.ColVector¶: Return object parameters expressed in the 2D image plane computed by perspective projection.

print(self) → None¶

Print to stdout the feature parameters in:

the object frame
the camera frame
the image plane.

project(*args, **kwargs)¶

Overloaded function.

project(self: visp._visp.core.ForwardProjection) -> None

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.

project(self: visp._visp.core.ForwardProjection, cMo: visp._visp.core.HomogeneousMatrix) -> None

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.

setDeallocate(self, d: visp._visp.core.ForwardProjection.ForwardProjectionDeallocatorType) → None¶

track(self, cMo: visp._visp.core.HomogeneousMatrix) → None¶

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: visp._visp.core.HomogeneousMatrix¶: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.