Visual Servoing Platform version 3.7.0
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vpFeatureDisplay Class Reference
core: Core module » Tools » Generic GUI

#include <vpFeatureDisplay.h>

Static Public Member Functions

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 displayCylinder (double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< vpRGBa > &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 displayEllipse (double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< vpRGBa > &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 displayLine (double rho, double theta, const vpCameraParameters &cam, const vpImage< vpRGBa > &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)
static void displayPoint (double x, double y, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)

Detailed Description

Interface with the image for feature display.

Definition at line 59 of file vpFeatureDisplay.h.

Member Function Documentation

◆ displayCylinder() [1/2]

void vpFeatureDisplay::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

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1: Cylinder first limp with parameter $ \rho_1 $ expressed in the image plane.
theta1: Cylinder first limp with parameter $ \theta_1 $ expressed in the image plane.
rho2: Cylinder second limp with parameter $ \rho_2 $ expressed in the image plane.
theta2: Cylinder second limp with parameter $ \theta_2 $ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 122 of file vpFeatureDisplay.cpp.

References displayLine().

Referenced by vpCylinder::display(), vpCylinder::display(), vpCylinder::display(), and vpCylinder::display().

◆ displayCylinder() [2/2]

void vpFeatureDisplay::displayCylinder ( double rho1,
double theta1,
double rho2,
double theta2,
const vpCameraParameters & cam,
const vpImage< vpRGBa > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1: Cylinder first limp with parameter $ \rho_1 $ expressed in the image plane.
theta1: Cylinder first limp with parameter $ \theta_1 $ expressed in the image plane.
rho2: Cylinder second limp with parameter $ \rho_2 $ expressed in the image plane.
theta2: Cylinder second limp with parameter $ \theta_2 $ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 249 of file vpFeatureDisplay.cpp.

References displayLine().

◆ displayEllipse() [1/2]

void vpFeatureDisplay::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

Display an ellipse with parameters $(x, y, n_{20}, n_{11}, n_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x: Normalized coordinate of the ellipse center, along the horizontal x-axis in the image plane.
y: Normalized coordinate of the ellipse center, along the vertical y-axis in the image plane.
n20: Second order centered moment $ n_{20} $ 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) expressed in the image plane.
n11: Second order centered moment $ n_{11} $ 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) expressed in the image plane.
n02: Second order centered moment $ n_{02} $ 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) expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 152 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

Referenced by vpCircle::display(), vpCircle::display(), vpCircle::display(), vpCircle::display(), vpFeatureEllipse::display(), vpFeatureEllipse::display(), vpSphere::display(), vpSphere::display(), vpSphere::display(), and vpSphere::display().

◆ displayEllipse() [2/2]

void vpFeatureDisplay::displayEllipse ( double x,
double y,
double n20,
double n11,
double n02,
const vpCameraParameters & cam,
const vpImage< vpRGBa > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display an ellipse with parameters $(x, y, n_{20}, n_{11}, n_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x: Normalized coordinate of the ellipse center, along the horizontal x-axis in the image plane.
y: Normalized coordinate of the ellipse center, along the vertical y-axis in the image plane.
n20: Second order centered moment $ n_{20} $ 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) expressed in the image plane.
n11: Second order centered moment $ n_{11} $ 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) expressed in the image plane.
n02: Second order centered moment $ n_{02} $ 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) expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 279 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

◆ displayLine() [1/2]

void vpFeatureDisplay::displayLine ( double rho,
double theta,
const vpCameraParameters & cam,
const vpImage< unsigned char > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho: Line parameters $ \rho $ expressed in the image plane.
theta: Line parameters $ \theta $ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 79 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), and vpImagePoint::set_ij().

Referenced by vpFeatureLine::display(), vpFeatureLine::display(), vpLine::display(), vpLine::display(), vpLine::display(), vpLine::display(), displayCylinder(), and displayCylinder().

◆ displayLine() [2/2]

void vpFeatureDisplay::displayLine ( double rho,
double theta,
const vpCameraParameters & cam,
const vpImage< vpRGBa > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho: Line parameters $ \rho $ expressed in the image plane.
theta: Line parameters $ \theta $ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 206 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), and vpImagePoint::set_ij().

◆ displayPoint() [1/2]

BEGIN_VISP_NAMESPACE void vpFeatureDisplay::displayPoint ( double x,
double y,
const vpCameraParameters & cam,
const vpImage< unsigned char > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x: Point coordinate along x-axis in the image plane.
y: Point coordinate along y-axis in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 60 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().

Referenced by vpFeaturePoint::display(), vpFeaturePoint::display(), vpFeaturePointPolar::display(), vpFeaturePointPolar::display(), vpFeatureVanishingPoint::display(), vpFeatureVanishingPoint::display(), vpPoint::display(), vpPoint::display(), vpPoint::display(), and vpPoint::display().

◆ displayPoint() [2/2]

void vpFeatureDisplay::displayPoint ( double x,
double y,
const vpCameraParameters & cam,
const vpImage< vpRGBa > & I,
const vpColor & color = vpColor::green,
unsigned int thickness = 1 )
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x: Point coordinate along x-axis in the image plane.
y: Point coordinate along y-axis in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 186 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().