vpForwardProjection Class Reference

#include <vpForwardProjection.h>

Inheritance diagram for vpForwardProjection:

Public Types
enum	vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection }

Public Member Functions
Public Member Functions Inherited from vpForwardProjection
	vpForwardProjection ()
virtual	~vpForwardProjection ()
virtual void	changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void	changeFrame (const vpHomogeneousMatrix &cMo)=0
virtual void	display (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
virtual void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
virtual vpForwardProjection *	duplicate () const =0
vpColVector	get_oP () const
vpForwardProjectionDeallocatorType	getDeallocate ()
virtual void	print () const
virtual void	projection (const vpColVector &cP, vpColVector &p) const =0
virtual void	projection ()=0
void	project ()
void	project (const vpHomogeneousMatrix &cMo)
void	setDeallocate (vpForwardProjectionDeallocatorType d)
virtual void	setWorldCoordinates (const vpColVector &oP)=0
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 vpTracker
vpColVector	p
vpColVector	cP
bool	cPAvailable

Protected Member Functions
Protected Member Functions Inherited from vpForwardProjection
virtual void	init ()=0

Public Attributes Inherited from vpForwardProjection
vpColVector	oP

Detailed Description

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.

Definition at line 62 of file vpForwardProjection.h.

Member Enumeration Documentation

vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 68 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpForwardProjection()

vpForwardProjection::vpForwardProjection ( )

inline

Definition at line 72 of file vpForwardProjection.h.

~vpForwardProjection()

virtual vpForwardProjection::~vpForwardProjection ( )

inlinevirtual

Destructor that does nothing.

Definition at line 75 of file vpForwardProjection.h.

Member Function Documentation

changeFrame() [1/2]

virtual void vpForwardProjection::changeFrame ( const vpHomogeneousMatrix &  cMo )

pure virtual

Computes the features parameters in the camera frame (cP) thanks to the parameters given in the object frame (vpForwardProjection::oP) and the homogeneous matrix relative to the pose (cMo) between the object frame and the camera frame.

To set the parameters in the object frame you need to call setWorldCoordinates().

Parameters

cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.

The features parameters in the camera frame (cP) are updated in the vpTracker::cP public attribute.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

changeFrame() [2/2]

virtual void vpForwardProjection::changeFrame ( const vpHomogeneousMatrix &  cMo, vpColVector &  cP  ) const

pure virtual

Computes the features parameters in the camera frame (cP) thanks to the parameters given in the object frame (vpForwardProjection::oP) and the homogeneous matrix relative to the pose (cMo) between the object frame and the camera frame.

To set the parameters in the object frame you need to call setWorldCoordinates().

Parameters

cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.
cP	: The vector which will contain the feature parameters expressed in the camera frame.

With this method, the vpTracker::cP public attribute is not updated.

Implemented in vpCylinder, vpLine, vpPoint, vpSphere, and vpCircle.

Referenced by project().

display() [1/2]

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

pure virtual

Displays the feature in the image I thanks to the 2D feature parameters in the image plane (vpTracker::p) and the camera parameters which enable to convert the features from meter to pixel.

Parameters

I	: The image where the feature must be displayed in overlay.
cam	: The camera parameters to enable the conversion from meter to pixel.
color	: The desired color to display the line in the image.
thickness	: Thickness of the feature representation.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

Referenced by vpProjectionDisplay::display().

display() [2/2]

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

pure virtual

Displays the feature in the image I thanks to the features in the object frame (vpForwardProjection::oP), the homogeneous matrix relative to the pose between the object frame and the camera frame and the camera parameters which enable to convert the features from meter to pixel.

Parameters

I	: The image where the line must be displayed in overlay.
cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.
cam	: The camera parameters to enable the conversion from meter to pixel.
color	: The desired color to display the line in the image.
thickness	: Thickness of the feature representation.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

duplicate()

virtual vpForwardProjection * vpForwardProjection::duplicate ( ) const

pure virtual

Create an object with the same type.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 94 of file vpTracker.h.

get_oP()

vpColVector vpForwardProjection::get_oP ( ) const

inline

Return object parameters expressed in the 3D object frame.

Definition at line 160 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 92 of file vpTracker.h.

getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inline

Definition at line 162 of file vpForwardProjection.h.

init()

virtual void vpForwardProjection::init ( )

protectedpure virtual

Default initialisation of the feature parameters:

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

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

print()

void vpForwardProjection::print ( ) const

virtual

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 50 of file vpForwardProjection.cpp.

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

project() [1/2]

void vpForwardProjection::project

(

)

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

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, and testPoseFeatures.cpp.

Definition at line 65 of file vpForwardProjection.cpp.

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

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), and track().

project() [2/2]

void vpForwardProjection::project

(

const vpHomogeneousMatrix &

cMo

)

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 81 of file vpForwardProjection.cpp.

References changeFrame(), and projection().

projection() [1/2]

virtual void vpForwardProjection::projection ( )

pure virtual

Computes the feature parameters in the image plane. These parameters are than updated in the vpTracker::p public attribute.

Warning

To compute these parameters, the method exploit the feature parameters in the camera frame. Thus, vpTracker::cP need to be updated before the call of this method. For that, a call to changeFrame(const vpHomogeneousMatrix &) is requested.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

Referenced by project(), and project().

projection() [2/2]

virtual void vpForwardProjection::projection ( const vpColVector &  cP, vpColVector &  p  ) const

pure virtual

Computes the feature parameters in the image plane from the parameters expressed in the camera frame.

Parameters

cP	[input] : Feature parameters expressed in the camera frame.
p	[output] : Feature parameters expressed in the image plane.

Implemented in vpPoint, vpCircle, vpCylinder, vpLine, and vpSphere.

setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d )

inline

Definition at line 191 of file vpForwardProjection.h.

setWorldCoordinates()

virtual void vpForwardProjection::setWorldCoordinates ( const vpColVector &  oP )

pure virtual

Sets the parameters which define the feature in the object frame.

Parameters

oP	: Feature parameters expressed in the object frame used to set the vpForwardProjection::oP public attribute.

Implemented in vpCircle, vpCylinder, vpLine, vpPoint, and vpSphere.

track()

void vpForwardProjection::track

(

const vpHomogeneousMatrix &

cMo

)

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, 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 103 of file vpForwardProjection.cpp.

References project().

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

Member Data Documentation

cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 72 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), print(), vpPose::printPoint(), project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpLine::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 78 of file vpTracker.h.

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

oP

vpColVector vpForwardProjection::oP

Feature coordinates expressed in the object frame.

Definition at line 223 of file vpForwardProjection.h.

Referenced by vpCircle::changeFrame(), vpPoint::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpPoint::get_oW(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::getWorldCoordinates(), vpPoint::getWorldCoordinates(), vpPoint::getWorldCoordinates(), vpPoint::getWorldCoordinates(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpLine::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), vpLine::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpSphere::setWorldCoordinates(), vpLine::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), vpPoint::setWorldCoordinates(), and vpSphere::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 68 of file vpTracker.h.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpFeatureBuilder::create(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpPoint::display(), vpSphere::display(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpPoint::display(), vpSphere::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMeTracker::init(), vpTracker::operator=(), print(), vpPose::printPoint(), project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().