Visual Servoing Platform version 3.5.0
Public Types | Public Member Functions | Protected Member Functions | List of all members
vpSphere Class Reference
core: Core module » Tools » 2D and 3D geometry

#include <vpSphere.h>

+ Inheritance diagram for vpSphere:

Public Types

enum  vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection }
 

Public Member Functions

 vpSphere ()
 
 vpSphere (const vpColVector &oP)
 
 vpSphere (double oX, double oY, double oZ, double R)
 
virtual ~vpSphere ()
 
void changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP) const
 
void changeFrame (const vpHomogeneousMatrix &cMo)
 
void display (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
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)
 
void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
vpSphere * duplicate () const
 
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 ()
 
void projection (const vpColVector &cP, vpColVector &p) const
 
void setWorldCoordinates (const vpColVector &oP)
 
void setWorldCoordinates (double oX, double oY, double oZ, double R)
 
Deprecated functions
vp_deprecated double get_mu20 () const
 
vp_deprecated double get_mu11 () const
 
vp_deprecated double get_mu02 () const
 
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 ()
 

Detailed Description

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:

Examples
manGeometricFeatures.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, and servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 82 of file vpSphere.h.

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType
inherited

Used for memory issue especially in the vpServo class.

Enumerator
user 
vpDisplayForwardProjection 

Definition at line 73 of file vpForwardProjection.h.

Constructor & Destructor Documentation

◆ vpSphere() [1/3]

vpSphere::vpSphere ( )

Default constructor.

Definition at line 84 of file vpSphere.cpp.

References init().

Referenced by duplicate().

◆ vpSphere() [2/3]

vpSphere::vpSphere ( const vpColVector &  oP_)
explicit

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.

Parameters
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 94 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

◆ vpSphere() [3/3]

vpSphere::vpSphere ( double  oX,
double  oY,
double  oZ,
double  R 
)

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.

Parameters
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 109 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

◆ ~vpSphere()

vpSphere::~vpSphere ( )
virtual

Destructor that does nothing.

Definition at line 118 of file vpSphere.cpp.

Member Function Documentation

◆ changeFrame() [1/2]

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

Perspective projection of the sphere. Internal sphere parameters are modified in cP.

Parameters
cMo: Homogeneous transformation from camera frame to object frame.

Implements vpForwardProjection.

Definition at line 206 of file vpSphere.cpp.

References changeFrame(), and vpTracker::cP.

◆ changeFrame() [2/2]

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

Perspective projection of the sphere. This method doesn't modify internal sphere parameters cP.

Parameters
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 215 of file vpSphere.cpp.

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

Referenced by changeFrame(), and display().

◆ display() [1/4]

void vpSphere::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 sphere in image I.

Parameters
I: Image used as background.
cam: Camera parameters.
color: Color used to draw the sphere.
thickness: Thickness used to draw the sphere.

Implements vpForwardProjection.

Examples
manGeometricFeatures.cpp.

Definition at line 287 of file vpSphere.cpp.

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

◆ display() [2/4]

void vpSphere::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 sphere in image I. This method is non destructive wrt. cP and p internal sphere parameters.

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 250 of file vpSphere.cpp.

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

◆ display() [3/4]

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

Display the projection of a 3D sphere in image I.

Parameters
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 301 of file vpSphere.cpp.

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

◆ display() [4/4]

void vpSphere::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 sphere in image I. This method is non destructive wrt. cP and p internal sphere parameters.

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 270 of file vpSphere.cpp.

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

◆ duplicate()

vpSphere * vpSphere::duplicate ( ) const
virtual

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

Implements vpForwardProjection.

Definition at line 233 of file vpSphere.cpp.

References vpSphere().

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const
inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 99 of file vpTracker.h.

◆ get_mu02()

vp_deprecated double vpSphere::get_mu02 ( ) const
inline
Deprecated:
You should rather use get_n02(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to $n_02 = mu_02/a$.

Definition at line 151 of file vpSphere.h.

◆ get_mu11()

vp_deprecated double vpSphere::get_mu11 ( ) const
inline
Deprecated:
You should rather use get_n11(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to $n_11 = mu_11/a$.

Definition at line 144 of file vpSphere.h.

◆ get_mu20()

vp_deprecated double vpSphere::get_mu20 ( ) const
inline
Deprecated:
You should rather use get_n20(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to $n_20 = mu_20/a$.

Definition at line 137 of file vpSphere.h.

◆ get_n02()

double vpSphere::get_n02 ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 109 of file vpSphere.h.

◆ get_n11()

double vpSphere::get_n11 ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 108 of file vpSphere.h.

◆ get_n20()

double vpSphere::get_n20 ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 107 of file vpSphere.h.

◆ get_oP()

vpColVector vpForwardProjection::get_oP ( ) const
inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 165 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 97 of file vpTracker.h.

◆ get_x()

double vpSphere::get_x ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 104 of file vpSphere.h.

◆ get_y()

double vpSphere::get_y ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 105 of file vpSphere.h.

◆ getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )
inlineinherited

Definition at line 167 of file vpForwardProjection.h.

◆ getR()

double vpSphere::getR ( ) const
inline
Examples
servoSimuSphere.cpp.

Definition at line 114 of file vpSphere.h.

◆ getX()

double vpSphere::getX ( ) const
inline

Definition at line 111 of file vpSphere.h.

◆ getY()

double vpSphere::getY ( ) const
inline

Definition at line 112 of file vpSphere.h.

◆ getZ()

double vpSphere::getZ ( ) const
inline

Definition at line 113 of file vpSphere.h.

◆ init()

void vpSphere::init ( )
protectedvirtual

Initialize internal sphere parameters.

Implements vpForwardProjection.

Definition at line 45 of file vpSphere.cpp.

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

Referenced by vpSphere().

◆ print()

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 53 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
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 68 of file vpForwardProjection.cpp.

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

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), 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 84 of file vpForwardProjection.cpp.

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

◆ projection() [1/2]

void vpSphere::projection ( )
virtual

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 127 of file vpSphere.cpp.

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

Referenced by display(), and projection().

◆ projection() [2/2]

void vpSphere::projection ( const vpColVector &  cP_,
vpColVector &  p_ 
) const
virtual

Perspective projection of the sphere. Internal parameters (cP and p) are not modified.

Parameters
[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:
  • x, y are the normalized coordinates of the ellipse centroid (ie the perspective projection of a 3D circle becomes a 2D ellipse in the image) in the image plane.
  • n20, n11, n02 which are the second order centered moments of the ellipse normalized by its area (i.e., such that $n_{ij} = \mu_{ij}/a$ where $\mu_{ij}$ are the centered moments and a the area).

Implements vpForwardProjection.

Definition at line 143 of file vpSphere.cpp.

References vpColVector::resize(), vpMath::sqr(), and vpERROR_TRACE.

◆ setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d)
inlineinherited

Definition at line 196 of file vpForwardProjection.h.

◆ setWorldCoordinates() [1/2]

void vpSphere::setWorldCoordinates ( const vpColVector &  oP_)
virtual

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.

Parameters
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.

Examples
manGeometricFeatures.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, and servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 62 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by vpSphere().

◆ setWorldCoordinates() [2/2]

void vpSphere::setWorldCoordinates ( double  oX,
double  oY,
double  oZ,
double  R 
)

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.

Parameters
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 73 of file vpSphere.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, 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 106 of file vpForwardProjection.cpp.

References vpForwardProjection::project().

Referenced by vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), vpImageDraw::drawFrame(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), 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 77 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().

◆ cPAvailable

bool vpTracker::cPAvailable
inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 83 of file vpTracker.h.

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

◆ oP

vpColVector vpForwardProjection::oP
inherited

Feature coordinates expressed in the object frame.

Definition at line 228 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().

◆ 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 73 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(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), init(), vpMeTracker::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().