Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpFeatureBuilderLine.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Conversion between tracker and visual feature line.
33 *
34*****************************************************************************/
35
42#include <visp3/core/vpMath.h>
43#include <visp3/visual_features/vpFeatureBuilder.h>
44
58{
59 try {
60 double A, B, C, D;
61 s.setRhoTheta(t.getRho(), t.getTheta());
62
63 if (fabs(t.cP[3]) > fabs(t.cP[7])) // |D1| > |D2|
64 {
65 A = t.cP[0];
66 B = t.cP[1];
67 C = t.cP[2];
68 D = t.cP[3];
69 } else {
70 A = t.cP[4];
71 B = t.cP[5];
72 C = t.cP[6];
73 D = t.cP[7];
74 }
75
76 s.setABCD(A, B, C, D);
77
78 } catch (...) {
79 vpERROR_TRACE("Error caught");
80 throw;
81 }
82}
83
100{
101 try {
102 double a = t.getA();
103 double b = t.getB();
104 double c = t.getC();
105
106 double x0 = t.getX();
107 double y0 = t.getY();
108 double z0 = t.getZ();
109
110 double R = t.getR();
111
112 double D =
113 vpMath::sqr(x0) + vpMath::sqr(y0) + vpMath::sqr(z0) - vpMath::sqr(R) - vpMath::sqr(a * x0 + b * y0 + c * z0);
114
115 double alpha1 = (1 - a * a) * x0 - a * b * y0 - a * c * z0;
116 double beta1 = -a * b * x0 + (1 - b * b) * y0 - b * c * z0;
117 double gamma1 = -a * c * x0 - b * c * y0 + (1 - c * c) * z0;
118
119 D *= -1;
120
121 if (D < 0) {
122 alpha1 *= -1;
123 beta1 *= -1;
124 gamma1 *= -1;
125 D *= -1;
126 }
127
128 s.setABCD(alpha1, beta1, gamma1, D);
129
130 if (line == vpCylinder::line1) {
131
132 s.setRhoTheta(t.getRho1(), t.getTheta1());
133
134 } else {
135
136 s.setRhoTheta(t.getRho2(), t.getTheta2());
137 }
138 } catch (...) {
139 vpERROR_TRACE("Error caught");
140 throw;
141 }
142}
143
144#ifdef VISP_HAVE_MODULE_ME
192{
193 try {
194 double rhop = t.getRho();
195 double thetap = t.getTheta();
196 double rho;
197 double theta;
198
199 // Gives the rho and theta coordinates in the (u,v) coordinate system.
200 if (thetap >= 0 && thetap < M_PI / 2) {
201 thetap = M_PI / 2 - thetap;
202 }
203
204 else if (thetap >= M_PI / 2 && thetap < 3 * M_PI / 2) {
205 thetap = 3 * M_PI / 2 + M_PI - thetap;
206 }
207
208 else if (thetap >= 3 * M_PI / 2 && thetap <= 2 * M_PI) {
209 thetap = M_PI / 2 + 2 * M_PI - thetap;
210 }
211
212 // while (thetap > M_PI/2) { thetap -= M_PI ; rhop *= -1 ; }
213 // while (thetap < -M_PI/2) { thetap += M_PI ; rhop *= -1 ; }
214
215 // vpTRACE("pixel %f %f",rhop, thetap) ;
216 vpPixelMeterConversion::convertLine(cam, rhop, thetap, rho, theta);
217
218 while (theta > M_PI) {
219 theta -= 2 * M_PI;
220 }
221 while (theta < -M_PI) {
222 theta += 2 * M_PI;
223 }
224
225 s.buildFrom(rho, theta);
226 } catch (...) {
227 vpERROR_TRACE("Error caught");
228 throw;
229 }
230}
231#endif //#ifdef VISP_HAVE_MODULE_ME
Generic class defining intrinsic camera parameters.
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition vpCylinder.h:98
double getZ() const
Definition vpCylinder.h:175
double getRho1() const
Definition vpCylinder.h:131
double getB() const
Definition vpCylinder.h:159
double getX() const
Definition vpCylinder.h:167
double getY() const
Definition vpCylinder.h:171
double getA() const
Definition vpCylinder.h:155
double getTheta1() const
Definition vpCylinder.h:137
double getR() const
Definition vpCylinder.h:179
double getC() const
Definition vpCylinder.h:163
double getTheta2() const
Definition vpCylinder.h:150
double getRho2() const
Definition vpCylinder.h:144
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void setRhoTheta(double rho, double theta)
void buildFrom(double rho, double theta)
void setABCD(double A, double B, double C, double D)
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition vpLine.h:100
double getRho() const
Definition vpLine.h:129
double getTheta() const
Definition vpLine.h:141
static double sqr(double x)
Definition vpMath.h:124
Class that tracks in an image a line moving edges.
Definition vpMeLine.h:148
double getRho() const
Definition vpMeLine.cpp:825
double getTheta() const
Definition vpMeLine.cpp:827
static void convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m, double &theta_m)
vpColVector cP
Definition vpTracker.h:72
#define vpERROR_TRACE
Definition vpDebug.h:388