Visual Servoing Platform version 3.5.0
vpBSpline.h
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30 *
31 * Description:
32 * This class implements the B-Spline
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef vpBSpline_H
40#define vpBSpline_H
41
47#include <visp3/core/vpImagePoint.h>
48
49#include <list>
50#include <vector>
51#include <visp3/core/vpMatrix.h>
52
53#ifndef DOXYGEN_SHOULD_SKIP_THIS
54
65typedef struct vpBasisFunction {
66 unsigned int i;
67 unsigned int p;
68 double u;
69 unsigned int k;
70 double value;
71} vpBasisFunction;
72#endif
73
110class VISP_EXPORT vpBSpline
111{
112public /*protected*/:
114 std::vector<vpImagePoint> controlPoints;
116 std::vector<double> knots;
118 unsigned int p;
120 std::vector<vpImagePoint> crossingPoints;
121
122public:
123 vpBSpline();
124 vpBSpline(const vpBSpline &bspline);
125 virtual ~vpBSpline();
126
132 inline unsigned int get_p() const { return p; }
133
140 inline void get_controlPoints(std::list<vpImagePoint> &list) const
141 {
142 list.clear();
143 for (unsigned int i = 0; i < controlPoints.size(); i++) {
144 list.push_back(*(&(controlPoints[0]) + i));
145 }
146 }
147
153 inline void get_knots(std::list<double> &list) const
154 {
155 list.clear();
156 for (unsigned int i = 0; i < knots.size(); i++) {
157 list.push_back(*(&(knots[0]) + i));
158 }
159 }
160
167 inline void get_crossingPoints(std::list<vpImagePoint> &list) const
168 {
169 list.clear();
170 for (unsigned int i = 0; i < crossingPoints.size(); i++) {
171 list.push_back(*(&(crossingPoints[0]) + i));
172 }
173 }
174
180 inline void set_p(unsigned int degree) { this->p = degree; }
181
187 inline void set_controlPoints(const std::list<vpImagePoint> &list)
188 {
189 controlPoints.clear();
190 for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
191 controlPoints.push_back(*it);
192 }
193 }
194
200 inline void set_knots(const std::list<double> &list)
201 {
202 knots.clear();
203 for (std::list<double>::const_iterator it = list.begin(); it != list.end(); ++it) {
204 knots.push_back(*it);
205 }
206 }
207
214 inline void set_crossingPoints(const std::list<vpImagePoint> &list)
215 {
216 crossingPoints.clear();
217 for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
218 crossingPoints.push_back(*it);
219 }
220 }
221
222 static unsigned int findSpan(double l_u, unsigned int l_p, std::vector<double> &l_knots);
223 unsigned int findSpan(double u);
224
225 static vpBasisFunction *computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p,
226 std::vector<double> &l_knots);
227 vpBasisFunction *computeBasisFuns(double u);
228
229 static vpBasisFunction **computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
230 std::vector<double> &l_knots);
231 vpBasisFunction **computeDersBasisFuns(double u, unsigned int der);
232
233 static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, std::vector<double> &l_knots,
234 std::vector<vpImagePoint> &l_controlPoints);
235 vpImagePoint computeCurvePoint(double u);
236
237 static vpImagePoint *computeCurveDers(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
238 std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints);
239 vpImagePoint *computeCurveDers(double u, unsigned int der);
240};
241
242#endif
Class that provides tools to compute and manipulate a B-Spline curve.
Definition: vpBSpline.h:111
void get_controlPoints(std::list< vpImagePoint > &list) const
Definition: vpBSpline.h:140
void set_p(unsigned int degree)
Definition: vpBSpline.h:180
void set_crossingPoints(const std::list< vpImagePoint > &list)
Definition: vpBSpline.h:214
unsigned int get_p() const
Definition: vpBSpline.h:132
void get_crossingPoints(std::list< vpImagePoint > &list) const
Definition: vpBSpline.h:167
void set_controlPoints(const std::list< vpImagePoint > &list)
Definition: vpBSpline.h:187
void get_knots(std::list< double > &list) const
Definition: vpBSpline.h:153
void set_knots(const std::list< double > &list)
Definition: vpBSpline.h:200
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88