vpPoint Class Reference

#include <vpPoint.h>

Inheritance diagram for vpPoint:

Public Types
enum	vpForwardProjectionDeallocatorType { user , vpDisplayForwardProjection }

Public Member Functions
	vpPoint ()
	vpPoint (double oX, double oY, double oZ)
VP_EXPLICIT	vpPoint (const vpColVector &oP)
VP_EXPLICIT	vpPoint (const std::vector< double > &oP)
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)
vpPoint *	duplicate () const VP_OVERRIDE
double	get_X () const
double	get_Y () const
double	get_Z () const
double	get_W () const
double	get_oX () const
double	get_oY () const
double	get_oZ () const
double	get_oW () const
double	get_x () const
double	get_y () const
double	get_w () const
void	getWorldCoordinates (double &oX, double &oY, double &oZ)
void	getWorldCoordinates (vpColVector &oP)
vpColVector	getWorldCoordinates (void)
void	getWorldCoordinates (std::vector< double > &oP)
void	projection (const vpColVector &_cP, vpColVector &_p) const VP_OVERRIDE
void	projection () VP_OVERRIDE
void	set_X (double cX)
void	set_Y (double cY)
void	set_Z (double cZ)
void	set_W (double cW)
void	set_oX (double oX)
void	set_oY (double oY)
void	set_oZ (double oZ)
void	set_oW (double oW)
void	set_x (double x)
void	set_y (double y)
void	set_w (double w)
void	setWorldCoordinates (double oX, double oY, double oZ)
void	setWorldCoordinates (const vpColVector &oP) VP_OVERRIDE
void	setWorldCoordinates (const std::vector< double > &oP)
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

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpPoint &vpp)

Detailed Description

Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the camera frame and in the 2D image plane by perspective projection. All the parameters must be set in meter.

A 3D point has the followings parameters:

• in the object frame: the normalized 3D coordinates oX, oY, oZ, oW of the point. These parameters registered in vpForwardProjection::oP internal 4-dim vector are set using the constructors vpPoint(double oX, double oY, double oZ), vpPoint(const vpColVector &oP) and vpPoint(const std::vector<double> &oP) or the functions setWorldCoordinates(double oX, double oY, double oZ), setWorldCoordinates(const vpColVector &oP) and setWorldCoordinates(const std::vector<double> &oP). To get theses parameters use get_oP().
• in the camera frame: the normalized coordinates cX, cY, cZ, 1 of the point. These parameters registered in vpTracker::cP internal 4-dim vector are computed using changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const or changeFrame(const vpHomogeneousMatrix &cMo). These parameters could be retrieved using get_X(), get_Y() and get_Z(). To get theses parameters use get_cP().
• in the image plane: the 2D normalized coordinates (x, y, 1) corresponding to the perspective projection of the point. These parameters are registered in vpTracker::p internal 3-dim vector and computed using projection() and projection(const vpColVector &cP, vpColVector &p) const. They could be retrieved using get_x() and get_y(). They correspond to 2D normalized point parameters with values expressed in meters. To get theses parameters use get_p().

Examples

AROgre.cpp, AROgreBasic.cpp, catchAprilTag.cpp, catchGenericTrackerCAOParsing.cpp, catchPoseRansac2.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoPioneerPanSegment3D.cpp, servoPixhawkDroneIBVS.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testConvert.cpp, testFeatureMoment.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testKeyPoint-4.cpp, testPoint.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-count-coins.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.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-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-pf.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-points-realsense-T265.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, tutorial-ukf.cpp, visp-calibrate-camera.cpp, and visp-compute-chessboard-poses.cpp.

Definition at line 78 of file vpPoint.h.

Member Enumeration Documentation

vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 70 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpPoint() [1/4]

vpPoint::vpPoint

(

)

Basic constructor.

Definition at line 63 of file vpPoint.cpp.

References init().

Referenced by duplicate(), and operator<<.

vpPoint() [2/4]

vpPoint::vpPoint	(	double	oX,
		double	oY,
		double	oZ )

Construction from a 3D point with coordinates in object frame.

Parameters

oX	: Coordinates along X-axis of a 3D point in object frame.
oY	: Coordinates along Y-axis of a 3D point in object frame.
oZ	: Coordinates along Z-axis of a 3D point in object frame.

Definition at line 71 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint() [3/4]

vpPoint::vpPoint

(

const vpColVector &

oP_

)

Construction from a 3D point with coordinates in object frame.

Parameters

oP_

: Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 87 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint() [4/4]

vpPoint::vpPoint

(

const std::vector< double > &

oP_

)

Construction from a 3D point with coordinates in object frame.

Parameters

oP_

: Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 103 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

Member Function Documentation

changeFrame() [1/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

From the 3D coordinates of the point in the object frame oP that are set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame cP = cMo * oP.

Parameters

cMo	: Transformation from camera to object frame.

Implements vpForwardProjection.

Definition at line 302 of file vpPoint.cpp.

References vpTracker::cP, and vpForwardProjection::oP.

changeFrame() [2/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix & cMo, vpColVector & v_cP ) const

virtual

From the 3D coordinates of the point in the object frame oP that are set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame cP = cMo * oP.

Parameters

cMo	: Transformation from camera to object frame.
v_cP	: 3D normalized coordinates of the point in the camera frame cP = (cX, cY, cZ, 1).

Implements vpForwardProjection.

Examples

servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 273 of file vpPoint.cpp.

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

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), display(), display(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), and vpMbtFaceDepthNormal::planeIsInvalid().

display() [1/4]

void vpPoint::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 point in image I.

Parameters

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

Implements vpForwardProjection.

Examples

manGeometricFeatures.cpp, servoAfma62DhalfCamVelocity.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 387 of file vpPoint.cpp.

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

display() [2/4]

void vpPoint::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 point in image I. This method is non destructive wrt. cP and p internal 3D point parameters.

Parameters

I	: Image used as background.
cMo	: Homogeneous transformation from camera frame to object frame. The point 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 338 of file vpPoint.cpp.

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

display() [3/4]

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

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

Parameters

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

Definition at line 401 of file vpPoint.cpp.

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

display() [4/4]

void vpPoint::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 point in image I. This method is non destructive wrt. cP and p internal 3D point parameters.

Parameters

I	: Image used as background.
cMo	: Homogeneous transformation from camera frame to object frame. The point 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 364 of file vpPoint.cpp.

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

duplicate()

vpPoint * vpPoint::duplicate ( ) const

virtual

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

Implements vpForwardProjection.

Definition at line 321 of file vpPoint.cpp.

References vpPoint().

get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 95 of file vpTracker.h.

References cP.

get_oP()

vpColVector vpForwardProjection::get_oP ( ) const

inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 155 of file vpForwardProjection.h.

References oP.

get_oW()

double vpPoint::get_oW

(

)

const

Get the point oW coordinate in the object frame.

Definition at line 424 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by operator<<, and vpPlane::projectionPointOnPlan().

get_oX()

double vpPoint::get_oX

(

)

const

Get the point oX coordinate in the object frame.

Examples

catchGenericTrackerCAOParsing.cpp, catchPoseRansac2.cpp, and testConvert.cpp.

Definition at line 418 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpRBKltTracker::vpTrackedKltPoint::distance(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPlane::init(), operator<<, vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPlane::projectionPointOnPlan(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_oY()

double vpPoint::get_oY

(

)

const

Get the point oY coordinate in the object frame.

Examples

catchGenericTrackerCAOParsing.cpp, catchPoseRansac2.cpp, and testConvert.cpp.

Definition at line 420 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpRBKltTracker::vpTrackedKltPoint::distance(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPlane::init(), operator<<, vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPlane::projectionPointOnPlan(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_oZ()

double vpPoint::get_oZ

(

)

const

Get the point oZ coordinate in the object frame.

Examples

catchGenericTrackerCAOParsing.cpp, catchPoseRansac2.cpp, and testConvert.cpp.

Definition at line 422 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpKeyPoint::compute3DForPointsOnCylinders(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpRBKltTracker::vpTrackedKltPoint::distance(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPlane::init(), operator<<, vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPlane::projectionPointOnPlan(), vpMbtFaceDepthDense::samePoint(), vpMbtFaceDepthNormal::samePoint(), vpMbTracker::samePoint(), and vpPlane::vpPlane().

get_p()

vpColVector vpTracker::get_p ( ) const

inlineinherited

Return object parameters expressed in the 2D image plane computed by perspective projection.

Definition at line 93 of file vpTracker.h.

References p.

get_W()

double vpPoint::get_W

(

)

const

Get the point cW coordinate in the camera frame.

Definition at line 415 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), operator<<, and vpPlane::projectionPointOnPlan().

get_w()

double vpPoint::get_w

(

)

const

Get the point w coordinate in the image plane.

Examples

homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, and homographyHartleyDLT2DObject.cpp.

Definition at line 431 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*(), and operator<<.

get_X()

double vpPoint::get_X

(

)

const

Get the point cX coordinate in the camera frame.

Definition at line 409 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), operator<<, vpMbtFaceDepthNormal::planeIsInvalid(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

get_x()

double vpPoint::get_x

(

)

const

Get the point x coordinate in the image plane.

Examples

catchPoseRansac2.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, testFindMatch.cpp, testPoint.cpp, and visp-calibrate-camera.cpp.

Definition at line 427 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), operator<<, vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_Y()

double vpPoint::get_Y

(

)

const

Get the point cY coordinate in the camera frame.

Definition at line 411 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), operator<<, vpMbtFaceDepthNormal::planeIsInvalid(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

get_y()

double vpPoint::get_y

(

)

const

Get the point y coordinate in the image plane.

Examples

catchPoseRansac2.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, testFindMatch.cpp, testPoint.cpp, and visp-calibrate-camera.cpp.

Definition at line 429 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), operator<<, vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_Z()

double vpPoint::get_Z

(

)

const

Get the point cZ coordinate in the camera frame.

Examples

servoAfma62DhalfCamVelocity.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 413 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpPlane::init(), vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), operator<<, vpMbtFaceDepthNormal::planeIsInvalid(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 157 of file vpForwardProjection.h.

getWorldCoordinates() [1/4]

void vpPoint::getWorldCoordinates	(	double &	oX,
		double &	oY,
		double &	oZ )

Get the point object frame coordinates.

Definition at line 203 of file vpPoint.cpp.

References vpForwardProjection::oP.

getWorldCoordinates() [2/4]

void vpPoint::getWorldCoordinates

(

std::vector< double > &

oP_

)

Get the point object frame normalized coordinates.

Parameters

oP_	: Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 227 of file vpPoint.cpp.

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

getWorldCoordinates() [3/4]

vpColVector vpPoint::getWorldCoordinates

(

void

)

Return the point object frame normalized coordinates.

Returns

Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 242 of file vpPoint.cpp.

References vpForwardProjection::oP.

getWorldCoordinates() [4/4]

void vpPoint::getWorldCoordinates

(

vpColVector &

oP_

)

Get the point object frame normalized coordinates.

Parameters

oP_	: Normalized coordinates of the point in the object frame oP = (oX, oY, oZ, oW) as a 4-dim vector.

Definition at line 219 of file vpPoint.cpp.

References vpForwardProjection::oP.

init()

BEGIN_VISP_NAMESPACE void vpPoint::init ( )

protectedvirtual

Basic construction.

Implements vpForwardProjection.

Definition at line 43 of file vpPoint.cpp.

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

Referenced by vpPoint(), vpPoint(), vpPoint(), and vpPoint().

print()

BEGIN_VISP_NAMESPACE 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 48 of file vpForwardProjection.cpp.

References vpTracker::cP, oP, and vpTracker::p.

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

catchPoseRansac2.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testPoseFeatures.cpp, and visp-calibrate-camera.cpp.

Definition at line 63 of file vpForwardProjection.cpp.

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

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpMbtFaceDepthNormal::planeIsInvalid(), projection(), and 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 79 of file vpForwardProjection.cpp.

References changeFrame(), and projection().

projection() [1/2]

void vpPoint::projection ( )

virtual

Perspective projection of the 3D point.

Projection onto the image plane of the point. Update the object attribute p (2D homogeneous coordinates) according to object attribute cP (current 3D coordinates in the camera frame).

Implements vpForwardProjection.

Definition at line 441 of file vpPoint.cpp.

References vpTracker::cP, and vpTracker::p.

Referenced by display(), and display().

projection() [2/2]

void vpPoint::projection ( const vpColVector & v_cP, vpColVector & v_p ) const

virtual

Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP, output : the 2D coordinates _p.

Compute the perspective projection of a point _cP.

Parameters

v_cP	: 3-dim vector cP = (cX, cY, cZ) or 4-dim vector cP = (cX, cY, cZ, 1) corresponding to the normalized coordinates of the 3D point in the camera frame.
v_p	: Coordinates of the point in the image plane obtained by perspective projection.

Implements vpForwardProjection.

Examples

servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 252 of file vpPoint.cpp.

References vpColVector::resize().

Referenced by vpPolygon3D::computePolygonClipped().

set_oW()

void vpPoint::set_oW

(

double

oW

)

Set the point oW coordinate in the object frame.

Definition at line 468 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_oX()

void vpPoint::set_oX

(

double

oX

)

Set the point oX coordinate in the object frame.

Examples

catchPoseRansac2.cpp, testConvert.cpp, and visp-compute-chessboard-poses.cpp.

Definition at line 462 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), and vpPlane::projectionPointOnPlan().

set_oY()

void vpPoint::set_oY

(

double

oY

)

Set the point oY coordinate in the object frame.

Examples

catchPoseRansac2.cpp, testConvert.cpp, and visp-compute-chessboard-poses.cpp.

Definition at line 464 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), and vpPlane::projectionPointOnPlan().

set_oZ()

void vpPoint::set_oZ

(

double

oZ

)

Set the point oZ coordinate in the object frame.

Examples

catchPoseRansac2.cpp, testConvert.cpp, and visp-compute-chessboard-poses.cpp.

Definition at line 466 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), and vpPlane::projectionPointOnPlan().

set_W()

void vpPoint::set_W

(

double

cW

)

Set the point cW coordinate in the camera frame.

Definition at line 459 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_w()

void vpPoint::set_w

(

double

w

)

Set the point w coordinate in the image plane.

Definition at line 475 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*().

set_X()

void vpPoint::set_X

(

double

cX

)

Set the point cX coordinate in the camera frame.

Definition at line 453 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_x()

void vpPoint::set_x

(

double

x

)

Set the point x coordinate in the image plane.

Examples

AROgre.cpp, AROgreBasic.cpp, catchAprilTag.cpp, catchPoseRansac2.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, and tutorial-count-coins.cpp.

Definition at line 471 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpPose::findMatch(), vpMbTracker::initFromPoints(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

set_Y()

void vpPoint::set_Y

(

double

cY

)

Set the point cY coordinate in the camera frame.

Definition at line 455 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

set_y()

void vpPoint::set_y

(

double

y

)

Set the point y coordinate in the image plane.

Examples

AROgre.cpp, AROgreBasic.cpp, catchAprilTag.cpp, catchPoseRansac2.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, and tutorial-count-coins.cpp.

Definition at line 473 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpPose::findMatch(), vpMbTracker::initFromPoints(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

set_Z()

void vpPoint::set_Z

(

double

cZ

)

Set the point cZ coordinate in the camera frame.

Definition at line 457 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpMbtFaceDepthNormal::computeNormalVisibility(), vpPose::computePlanarObjectPoseWithAtLeast3Points(), vpMbtFaceDepthNormal::computePolygonCentroid(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 185 of file vpForwardProjection.h.

setWorldCoordinates() [1/3]

void vpPoint::setWorldCoordinates

(

const std::vector< double > &

oP_

)

Set the 3D point object frame coordinates.

Parameters

oP_

: Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Definition at line 175 of file vpPoint.cpp.

References vpException::dimensionError, and vpForwardProjection::oP.

setWorldCoordinates() [2/3]

void vpPoint::setWorldCoordinates ( const vpColVector & oP_ )

virtual

Set the 3D point object frame coordinates.

Parameters

oP_

: Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4. If dimension is 3, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, 1) where oP[0]=oX, oP[1]=oY, oP[2]=oZ. If dimension is 4, oP corresponds to the normalized coordinates oP = (oX, oY, oZ, oW) where oP[0]=oX, oP[1]=oY, oP[2]=oZ and oP[3]=oW.

Implements vpForwardProjection.

Definition at line 138 of file vpPoint.cpp.

References vpException::dimensionError, vpForwardProjection::oP, and vpArray2D< Type >::size().

setWorldCoordinates() [3/3]

void vpPoint::setWorldCoordinates	(	double	oX,
		double	oY,
		double	oZ )

Set the 3D point object frame coordinates oP = (oX, oY, oZ, 1).

Parameters

oX	: Coordinates along X-axis of a 3D point in object frame.
oY	: Coordinates along Y-axis of a 3D point in object frame.
oZ	: Coordinates along Z-axis of a 3D point in object frame.

Examples

AROgre.cpp, AROgreBasic.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testPoint.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.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, and tutorial-ibvs-4pts.cpp.

Definition at line 116 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), vpKeyPoint::compute3DForPointsOnCylinders(), vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::getGravityCenter(), vpMbTracker::initFromPoints(), vpKeyPoint::matchPoint(), vpPose::poseFromRectangle(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::projectCameraTrajectory(), vpPoint(), vpPoint(), and vpPoint().

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

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, testPoint.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 101 of file vpForwardProjection.cpp.

References project().

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

Friends And Related Symbol Documentation

operator<<

VISP_EXPORT std::ostream & operator<< ( std::ostream & os, const vpPoint & vpp )

friend

Overload of the stream operator for vpPoint.

Parameters

os	: The output stream that will contain the vpPoint information: oP : the normalized 3D point coordinates in the object frame, cP : the normalized 3D point coordinates in the camera frame, ip : the normalized 2D point coordinates in the image plane.
vpp	: The vpPoint to output.

The following code snippet shows how to use this operator.

#include <visp3/core/vpPoint.h>
 
int main() {
  vpPoint obj0(-0.1, -0.1, 0);
  std::cout << "obj0:\n" << obj0 << std::endl;
}

It produces the following output:

obj0:
oP=(-0.1, -0.1, 0, 1)
cP=(0, 0, 0, 1)
ip=(0, 0, 1)

Definition at line 502 of file vpPoint.cpp.

References get_oW(), get_oX(), get_oY(), get_oZ(), get_W(), get_w(), get_X(), get_x(), get_Y(), get_y(), get_Z(), operator<<, and vpPoint().

Referenced by operator<<.

Member Data Documentation

cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Examples

testPoint.cpp.

Definition at line 73 of file vpTracker.h.

Referenced by vpCircle::changeFrame(), vpCylinder::changeFrame(), vpForwardProjection::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), get_cP(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::getA(), vpCylinder::getA(), vpCircle::getB(), vpCylinder::getB(), vpCircle::getC(), vpCylinder::getC(), vpCircle::getR(), vpCylinder::getR(), vpSphere::getR(), vpCircle::getX(), vpCylinder::getX(), vpSphere::getX(), vpCircle::getY(), vpCylinder::getY(), vpSphere::getY(), vpCircle::getZ(), vpCylinder::getZ(), vpSphere::getZ(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpCircle::operator=(), operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpForwardProjection::projection(), vpLine::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), vpTracker(), and vpTracker().

cPAvailable

bool vpTracker::cPAvailable

inherited

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 init(), operator=(), vpTracker(), and vpTracker().

oP

vpColVector vpForwardProjection::oP

inherited

Feature coordinates expressed in the object frame.

Examples

testPoint.cpp.

Definition at line 205 of file vpForwardProjection.h.

Referenced by vpCircle::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), get_oP(), 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(), vpCircle::operator=(), print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpCircle::setWorldCoordinates(), vpCircle::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), setWorldCoordinates(), vpLine::setWorldCoordinates(), vpLine::setWorldCoordinates(), vpLine::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpSphere::setWorldCoordinates(), vpSphere::setWorldCoordinates(), and vpForwardProjection().

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 69 of file vpTracker.h.

Referenced by vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpCircle::display(), vpCircle::display(), vpCylinder::display(), vpCylinder::display(), vpLine::display(), vpLine::display(), vpPoint::display(), vpPoint::display(), vpSphere::display(), vpSphere::display(), vpFeatureDisplay::displayEllipse(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpImageDraw::drawFrame(), vpCircle::get_mu02(), vpSphere::get_mu02(), vpCircle::get_mu11(), vpSphere::get_mu11(), vpCircle::get_mu20(), vpSphere::get_mu20(), vpCircle::get_n02(), vpSphere::get_n02(), vpCircle::get_n11(), vpSphere::get_n11(), vpCircle::get_n20(), vpSphere::get_n20(), get_p(), vpPoint::get_w(), vpCircle::get_x(), vpPoint::get_x(), vpSphere::get_x(), vpCircle::get_y(), vpPoint::get_y(), vpSphere::get_y(), vpLine::getRho(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpLine::getTheta(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpMeTracker::init(), vpPoint::init(), vpSphere::init(), vpCircle::operator=(), operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpForwardProjection::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_w(), vpPoint::set_x(), vpPoint::set_y(), vpLine::setRho(), vpLine::setTheta(), vpTracker(), and vpTracker().