Visual Servoing Platform  version 3.3.0
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)
 
 vpPoint (const vpColVector &P)
 
 vpPoint (const std::vector< double > &P)
 
virtual ~vpPoint ()
 
void changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &_cP)
 
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< 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)
 
vpPointduplicate () const
 
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 &P)
 
vpColVector getWorldCoordinates (void)
 
void getWorldCoordinates (std::vector< double > &P)
 
void init ()
 
vpPointoperator= (const vpPoint &vpp)=default
 
void projection (const vpColVector &_cP, vpColVector &_p)
 
void projection ()
 
void set_X (double X)
 
void set_Y (double Y)
 
void set_Z (double Z)
 
void set_W (double W)
 
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 &P)
 
void setWorldCoordinates (const std::vector< double > &P)
 
void project ()
 
void project (const vpHomogeneousMatrix &cMo)
 
void track (const vpHomogeneousMatrix &cMo)
 
virtual void print () const
 
void setDeallocate (vpForwardProjectionDeallocatorType d)
 
vpForwardProjectionDeallocatorType getDeallocate ()
 

Public Attributes

vpColVector oP
 
vpColVector p
 
vpColVector cP
 
bool cPAvailable
 

Friends

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

Detailed Description

Class that defines what is a point.

Examples
AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-ibvs.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBebop2.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.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, testAprilTag.cpp, testConvert.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testKeyPoint-4.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-chessboard-pose.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-pose-from-points-image.cpp, tutorial-pose-from-points-live.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, and tutorial-simu-pioneer.cpp.

Definition at line 57 of file vpPoint.h.

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

Used for memory issue especially in the vpServo class.

Enumerator
user 
vpDisplayForwardProjection 

Definition at line 210 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().

◆ vpPoint() [2/4]

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

Construction from 3D coordinates in the object frame.

Parameters
oX,oY,oZCoordinates of a 3D point in the object frame.

Definition at line 69 of file vpPoint.cpp.

◆ vpPoint() [3/4]

vpPoint::vpPoint ( const vpColVector P)
explicit

Construction from 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PVector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.
  • If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
  • If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 85 of file vpPoint.cpp.

◆ vpPoint() [4/4]

vpPoint::vpPoint ( const std::vector< double > &  P)
explicit

Construction from 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PVector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.
  • If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
  • If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 101 of file vpPoint.cpp.

◆ ~vpPoint()

virtual vpPoint::~vpPoint ( )
inlinevirtual

Destructor.

Definition at line 67 of file vpPoint.h.

Member Function Documentation

◆ changeFrame() [1/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix cMo)
virtual

From the 3D coordinates of the point in the object frame set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame.

Parameters
cMo: Transformation from camera to object frame.

Implements vpForwardProjection.

Definition at line 258 of file vpPoint.cpp.

◆ changeFrame() [2/2]

void vpPoint::changeFrame ( const vpHomogeneousMatrix cMo,
vpColVector _cP 
)
virtual

From the 3D coordinates of the point in the object frame set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame.

Parameters
cMo: Transformation from camera to object frame.
_cP: 3D coordinates of the point in the camera frame.

Implements vpForwardProjection.

Examples
servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 232 of file vpPoint.cpp.

Referenced by vpMbtFaceDepthNormal::displayFeature().

◆ display() [1/3]

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

Display the point in the image.

Implements vpForwardProjection.

Examples
manGeometricFeatures.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 404 of file vpPoint.cpp.

◆ display() [2/3]

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 point in the image.

Implements vpForwardProjection.

Definition at line 357 of file vpPoint.cpp.

◆ display() [3/3]

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

Display the point in the image.

Definition at line 374 of file vpPoint.cpp.

◆ duplicate()

vpPoint * vpPoint::duplicate ( ) const
virtual

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

Implements vpForwardProjection.

Definition at line 348 of file vpPoint.cpp.

References vpPoint().

◆ get_oW()

double vpPoint::get_oW ( ) const

Get the point W coordinate in the object frame.

Definition at line 427 of file vpPoint.cpp.

◆ get_oX()

double vpPoint::get_oX ( ) const

◆ get_oY()

double vpPoint::get_oY ( ) const

◆ get_oZ()

double vpPoint::get_oZ ( ) const

◆ get_W()

double vpPoint::get_W ( ) const

Get the point W coordinate in the camera frame.

Definition at line 418 of file vpPoint.cpp.

◆ get_w()

double vpPoint::get_w ( ) const

Get the point w coordinate in the image plane.

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

Definition at line 434 of file vpPoint.cpp.

◆ get_X()

double vpPoint::get_X ( ) const

◆ get_x()

◆ get_Y()

double vpPoint::get_Y ( ) const

◆ get_y()

◆ get_Z()

◆ getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )
inlineinherited

Definition at line 219 of file vpForwardProjection.h.

◆ getWorldCoordinates() [1/4]

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

Get the point world coordinates. We mean here the coordinates of the point in the object frame.

Definition at line 176 of file vpPoint.cpp.

◆ getWorldCoordinates() [2/4]

void vpPoint::getWorldCoordinates ( std::vector< double > &  P)

Get the point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PNormalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 194 of file vpPoint.cpp.

◆ getWorldCoordinates() [3/4]

vpColVector vpPoint::getWorldCoordinates ( void  )

Return the point world coordinates. We mean here the coordinates of the point in the object frame.

Returns
Normalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 206 of file vpPoint.cpp.

◆ getWorldCoordinates() [4/4]

void vpPoint::getWorldCoordinates ( vpColVector P)

Get the point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PNormalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 188 of file vpPoint.cpp.

◆ init()

void vpPoint::init ( )
virtual

Basic construction.

Implements vpForwardProjection.

Definition at line 47 of file vpPoint.cpp.

Referenced by vpPoint().

◆ operator=()

vpPoint& vpPoint::operator= ( const vpPoint vpp)
default

◆ 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 52 of file vpForwardProjection.cpp.

◆ project() [1/2]

◆ 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 83 of file vpForwardProjection.cpp.

◆ projection() [1/2]

void vpPoint::projection ( )
virtual

Perspective projection of the 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 444 of file vpPoint.cpp.

◆ projection() [2/2]

void vpPoint::projection ( const vpColVector _cP,
vpColVector _p 
)
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
_cP: Three dimension vector that corresponds to the coordinates of the point in the camera frame.
_p: Coordinates of the point in the image plane obtained by perspective projection.

Implements vpForwardProjection.

Examples
servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 215 of file vpPoint.cpp.

◆ set_oW()

void vpPoint::set_oW ( double  oW)

Set the point W coordinate in the object frame.

Definition at line 468 of file vpPoint.cpp.

◆ set_oX()

void vpPoint::set_oX ( double  oX)

Set the point X coordinate in the object frame.

Examples
testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 462 of file vpPoint.cpp.

◆ set_oY()

void vpPoint::set_oY ( double  oY)

Set the point Y coordinate in the object frame.

Examples
testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 464 of file vpPoint.cpp.

◆ set_oZ()

void vpPoint::set_oZ ( double  oZ)

Set the point Z coordinate in the object frame.

Examples
testConvert.cpp, and tutorial-chessboard-pose.cpp.

Definition at line 466 of file vpPoint.cpp.

◆ set_W()

void vpPoint::set_W ( double  W)

Set the point W coordinate in the camera frame.

Definition at line 459 of file vpPoint.cpp.

◆ 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.

◆ set_X()

void vpPoint::set_X ( double  X)

◆ set_x()

◆ set_Y()

void vpPoint::set_Y ( double  Y)

◆ set_y()

◆ set_Z()

void vpPoint::set_Z ( double  Z)

◆ setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d)
inlineinherited

Definition at line 218 of file vpForwardProjection.h.

◆ setWorldCoordinates() [1/3]

void vpPoint::setWorldCoordinates ( const std::vector< double > &  P)

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PVector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.
  • If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
  • If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 156 of file vpPoint.cpp.

◆ setWorldCoordinates() [2/3]

void vpPoint::setWorldCoordinates ( const vpColVector P)
virtual

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
PVector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.
  • If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
  • If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Implements vpForwardProjection.

Definition at line 129 of file vpPoint.cpp.

◆ setWorldCoordinates() [3/3]

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

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters
oX,oY,oZCoordinates of a 3D point in the object frame.
Examples
AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.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, testRobotAfma6Pose.cpp, testRobotViper850Pose.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 112 of file vpPoint.cpp.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpProjectionDisplay::init(), vpMbTracker::initFromPoints(), and vpWireFrameSimulator::projectCameraTrajectory().

◆ 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 110 of file vpForwardProjection.cpp.

Referenced by vpProjectionDisplay::displayCamera(), vpWireFrameSimulator::projectCameraTrajectory(), and vpSimulatorAfma6::updateArticularPosition().

Friends And Related Function Documentation

◆ operator<<

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

Definition at line 387 of file vpPoint.cpp.

Member Data Documentation

◆ cP

vpColVector vpTracker::cP
inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 74 of file vpTracker.h.

Referenced by vpCircle::init(), vpSphere::init(), vpCylinder::init(), vpTracker::operator=(), and vpPose::printPoint().

◆ cPAvailable

bool vpTracker::cPAvailable
inherited

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

Definition at line 80 of file vpTracker.h.

Referenced by vpTracker::operator=().

◆ oP

vpColVector vpForwardProjection::oP
inherited

Feature coordinates expressed in the object frame, also called world frame.

Definition at line 73 of file vpForwardProjection.h.

Referenced by vpCircle::init(), vpSphere::init(), vpCylinder::init(), vpPose::printPoint(), 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 70 of file vpTracker.h.

Referenced by vpCircle::display(), vpSphere::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpCircle::init(), vpSphere::init(), vpMeTracker::init(), vpCylinder::init(), vpTracker::operator=(), and vpPose::printPoint().