UsTK : Ultrasound ToolKit  version 2.0.1 under development (2023-12-07)
Functions
usGeometryTools Namespace Reference

Functions

VISP_EXPORT double getPointPlaneDistance (const vpColVector &point, const usOrientedPlane3D &plane)
 
VISP_EXPORT bool IsPointInFrontOfPlane (const vpColVector &point, const usOrientedPlane3D &plane)
 
VISP_EXPORT bool DoesSegmentCrossPlane (const usPolynomialCurve3D &poly, const usOrientedPlane3D &plane)
 
VISP_EXPORT bool DoesSegmentCrossPlane (const usBSpline3D &spline, const usOrientedPlane3D &plane)
 
VISP_EXPORT bool DoesSegmentCrossPlaneDirect (const usPolynomialCurve3D &poly, const usOrientedPlane3D &plane)
 
VISP_EXPORT bool DoesSegmentCrossPlaneDirect (const usBSpline3D &spline, const usOrientedPlane3D &plane)
 
VISP_EXPORT vpColVector getPlaneCurveCrossingPoint (const usPolynomialCurve3D &poly, const usOrientedPlane3D &plane, double threshold, double *t=nullptr)
 
VISP_EXPORT vpColVector getPlaneCurveCrossingPoint (const usBSpline3D &spline, const usOrientedPlane3D &plane, double threshold, double *t=nullptr)
 
VISP_EXPORT vpColVector projectPointOnPlane (const vpColVector &point, const usOrientedPlane3D &plane, const vpColVector &direction=vpColVector())
 
VISP_EXPORT vpColVector projectPointOnCurve (const vpColVector &point, const usPolynomialCurve3D &poly, double threshold=-1, double *t=nullptr)
 
VISP_EXPORT vpColVector projectPointOnCurve (const vpColVector &point, const usBSpline3D &spline, double threshold=-1, int *index=nullptr, double *t=nullptr)
 
VISP_EXPORT usOrientedPlane3D getNormalPlane (const usPolynomialCurve3D &p, double l)
 
VISP_EXPORT usPolynomialCurve3D convertBSplineToPolynomial (const usBSpline3D &spline, int order)
 
VISP_EXPORT usBSpline3D convertPolynomialToBSpline (const usPolynomialCurve3D &poly, int nbSegments, int order)
 
VISP_EXPORT vpPoseVector findPointCloudRelativePose (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, double *res=nullptr)
 
VISP_EXPORT vpTranslationVector findPointCloudRelativePosition (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, const vpRotationMatrix &worldRprobe, double *res=nullptr)
 
VISP_EXPORT vpRotationMatrix findPointCloudRelativeRotation (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, double *res=nullptr)
 
VISP_EXPORT vpPoseVector ICPPointCloudRelativePose (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, double *res=nullptr, vpPoseVector *initialGuess=nullptr)
 
VISP_EXPORT vpTranslationVector ICPPointCloudRelativePosition (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, const vpRotationMatrix &worldRprobe, double *res=nullptr, vpTranslationVector *initialGuess=nullptr)
 
VISP_EXPORT vpRotationMatrix ICPPointCloudRelativeRotation (std::vector< vpColVector > &P1, std::vector< vpColVector > &P2, double *res=nullptr, vpRotationMatrix *initialGuess=nullptr)
 
VISP_EXPORT bool fitCircleTo2DPointCloud (const std::vector< vpColVector > &points, vpColVector &center, double &r)
 
VISP_EXPORT bool fitSphereTo3DPointCloud (const std::vector< vpColVector > &points, vpColVector &center, double &r)
 

Function Documentation

◆ convertBSplineToPolynomial()

usPolynomialCurve3D usGeometryTools::convertBSplineToPolynomial ( const usBSpline3D &  spline,
int  order 
)

Definition at line 296 of file usGeometryTools.cpp.

References usPolynomialCurve3D::defineFromPoints(), usBSpline3D::getParametricLength(), and usBSpline3D::getPoint().

◆ convertPolynomialToBSpline()

usBSpline3D usGeometryTools::convertPolynomialToBSpline ( const usPolynomialCurve3D &  poly,
int  nbSegments,
int  order 
)

Definition at line 315 of file usGeometryTools.cpp.

References usBSpline3D::defineFromPoints(), usPolynomialCurve3D::getParametricLength(), and usPolynomialCurve3D::getPoint().

◆ DoesSegmentCrossPlane() [1/2]

bool usGeometryTools::DoesSegmentCrossPlane ( const usBSpline3D &  spline,
const usOrientedPlane3D &  plane 
)

Definition at line 62 of file usGeometryTools.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getStartPoint(), and IsPointInFrontOfPlane().

◆ DoesSegmentCrossPlane() [2/2]

bool usGeometryTools::DoesSegmentCrossPlane ( const usPolynomialCurve3D &  poly,
const usOrientedPlane3D &  plane 
)

Definition at line 57 of file usGeometryTools.cpp.

References usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getStartPoint(), and IsPointInFrontOfPlane().

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

◆ DoesSegmentCrossPlaneDirect() [1/2]

bool usGeometryTools::DoesSegmentCrossPlaneDirect ( const usBSpline3D &  spline,
const usOrientedPlane3D &  plane 
)

Definition at line 79 of file usGeometryTools.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getStartPoint(), and IsPointInFrontOfPlane().

◆ DoesSegmentCrossPlaneDirect() [2/2]

bool usGeometryTools::DoesSegmentCrossPlaneDirect ( const usPolynomialCurve3D &  poly,
const usOrientedPlane3D &  plane 
)

Definition at line 74 of file usGeometryTools.cpp.

References usPolynomialCurve3D::getEndPoint(), usPolynomialCurve3D::getStartPoint(), and IsPointInFrontOfPlane().

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::checkInactiveMeasureSprings(), and usNeedleInsertionModelRayleighRitzSpline::updateState().

◆ findPointCloudRelativePose()

vpPoseVector usGeometryTools::findPointCloudRelativePose ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
double *  res = nullptr 
)

Definition at line 332 of file usGeometryTools.cpp.

Referenced by ICPPointCloudRelativePose().

◆ findPointCloudRelativePosition()

vpTranslationVector usGeometryTools::findPointCloudRelativePosition ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
const vpRotationMatrix &  worldRprobe,
double *  res = nullptr 
)

Definition at line 387 of file usGeometryTools.cpp.

◆ findPointCloudRelativeRotation()

vpRotationMatrix usGeometryTools::findPointCloudRelativeRotation ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
double *  res = nullptr 
)

Definition at line 419 of file usGeometryTools.cpp.

◆ fitCircleTo2DPointCloud()

bool usGeometryTools::fitCircleTo2DPointCloud ( const std::vector< vpColVector > &  points,
vpColVector &  center,
double &  r 
)

Definition at line 551 of file usGeometryTools.cpp.

◆ fitSphereTo3DPointCloud()

bool usGeometryTools::fitSphereTo3DPointCloud ( const std::vector< vpColVector > &  points,
vpColVector &  center,
double &  r 
)

Definition at line 591 of file usGeometryTools.cpp.

◆ getNormalPlane()

usOrientedPlane3D usGeometryTools::getNormalPlane ( const usPolynomialCurve3D &  p,
double  l 
)

Definition at line 291 of file usGeometryTools.cpp.

References usPolynomialCurve3D::getPoint(), and usPolynomialCurve3D::getTangent().

Referenced by usNeedleModelingDisplayTools::displayTissueLayers().

◆ getPlaneCurveCrossingPoint() [1/2]

vpColVector usGeometryTools::getPlaneCurveCrossingPoint ( const usBSpline3D &  spline,
const usOrientedPlane3D &  plane,
double  threshold,
double *  t = nullptr 
)

Definition at line 134 of file usGeometryTools.cpp.

References usBSpline3D::accessSegment(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getParametricLength(), getPlaneCurveCrossingPoint(), usPolynomialCurve3D::getStartPoint(), and IsPointInFrontOfPlane().

◆ getPlaneCurveCrossingPoint() [2/2]

vpColVector usGeometryTools::getPlaneCurveCrossingPoint ( const usPolynomialCurve3D &  poly,
const usOrientedPlane3D &  plane,
double  threshold,
double *  t = nullptr 
)

Definition at line 91 of file usGeometryTools.cpp.

References usPolynomialCurve3D::getEndParameter(), usPolynomialCurve3D::getParametricLength(), usPolynomialCurve3D::getPoint(), usPolynomialCurve3D::getStartParameter(), and IsPointInFrontOfPlane().

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addRemoveSprings(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), getPlaneCurveCrossingPoint(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen(), and usNeedleInsertionModelRayleighRitzSpline::updateState().

◆ getPointPlaneDistance()

double usGeometryTools::getPointPlaneDistance ( const vpColVector &  point,
const usOrientedPlane3D &  plane 
)

Definition at line 45 of file usGeometryTools.cpp.

References usOrientedPlane3D::getDirection(), and usOrientedPlane3D::getPosition().

Referenced by IsPointInFrontOfPlane(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersSparseEigen().

◆ ICPPointCloudRelativePose()

vpPoseVector usGeometryTools::ICPPointCloudRelativePose ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
double *  res = nullptr,
vpPoseVector *  initialGuess = nullptr 
)

Definition at line 460 of file usGeometryTools.cpp.

References findPointCloudRelativePose().

◆ ICPPointCloudRelativePosition()

vpTranslationVector usGeometryTools::ICPPointCloudRelativePosition ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
const vpRotationMatrix &  worldRprobe,
double *  res = nullptr,
vpTranslationVector *  initialGuess = nullptr 
)

Definition at line 527 of file usGeometryTools.cpp.

◆ ICPPointCloudRelativeRotation()

vpRotationMatrix usGeometryTools::ICPPointCloudRelativeRotation ( std::vector< vpColVector > &  P1,
std::vector< vpColVector > &  P2,
double *  res = nullptr,
vpRotationMatrix *  initialGuess = nullptr 
)

Definition at line 540 of file usGeometryTools.cpp.

◆ IsPointInFrontOfPlane()

bool usGeometryTools::IsPointInFrontOfPlane ( const vpColVector &  point,
const usOrientedPlane3D &  plane 
)

Definition at line 52 of file usGeometryTools.cpp.

References getPointPlaneDistance().

Referenced by usNeedleInsertionModelVirtualSprings::addInsertionPoint(), usNeedleInsertionModelVirtualSprings::addMeasureSpring(), usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), DoesSegmentCrossPlane(), DoesSegmentCrossPlaneDirect(), usNeedleInsertionModelRayleighRitzSpline::getNeedleFreeLength(), getPlaneCurveCrossingPoint(), usNeedleInsertionModelRayleighRitzSpline::IsNeedleInserted(), usNeedleInsertionModelVirtualSprings::IsNeedleInserted(), usNeedleInsertionModelRayleighRitzSpline::setBasePose(), usNeedleInsertionModelVirtualSprings::setBasePose(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersDense(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigen(), usNeedleInsertionModelRayleighRitzSpline::solveSegmentsParametersFullSparseEigenFixedLength(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().

◆ projectPointOnCurve() [1/2]

vpColVector usGeometryTools::projectPointOnCurve ( const vpColVector &  point,
const usBSpline3D &  spline,
double  threshold = -1,
int *  index = nullptr,
double *  t = nullptr 
)

Definition at line 244 of file usGeometryTools.cpp.

References usBSpline3D::accessLastSegment(), usBSpline3D::accessSegment(), usPolynomialCurve3D::getEndPoint(), usBSpline3D::getNbSegments(), usPolynomialCurve3D::getStartPoint(), and projectPointOnCurve().

◆ projectPointOnCurve() [2/2]

vpColVector usGeometryTools::projectPointOnCurve ( const vpColVector &  point,
const usPolynomialCurve3D &  poly,
double  threshold = -1,
double *  t = nullptr 
)

Definition at line 209 of file usGeometryTools.cpp.

References usPolynomialCurve3D::getEndParameter(), usPolynomialCurve3D::getPoint(), and usPolynomialCurve3D::getStartParameter().

Referenced by usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint(), and projectPointOnCurve().

◆ projectPointOnPlane()

vpColVector usGeometryTools::projectPointOnPlane ( const vpColVector &  point,
const usOrientedPlane3D &  plane,
const vpColVector &  direction = vpColVector() 
)

Definition at line 191 of file usGeometryTools.cpp.

References usOrientedPlane3D::getDirection(), and usOrientedPlane3D::getPosition().

Referenced by usNeedleInsertionModelRayleighRitzSpline::cutPathToPoint(), usNeedleInsertionModelRayleighRitzSpline::getNeedleInsertionPoint(), usNeedleInsertionModelVirtualSprings::getPathDistanceFromPoint(), and usNeedleInsertionModelRayleighRitzSpline::updatePath().