Visual Servoing Platform  version 3.0.1
vpFeatureBuilderSegment.cpp
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Segment creation out of dots.
32  *
33  * Authors:
34  * Filip Novotny
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 
45 #include <visp3/visual_features/vpFeatureBuilder.h>
46 #include <visp3/core/vpMath.h>
47 
48 #ifdef VISP_HAVE_MODULE_BLOB
49 
60  const vpDot &d1, const vpDot &d2 )
61 {
62  double x1=0, y1=0, x2=0, y2=0;
63 
64  vpPixelMeterConversion::convertPoint(cam, d1.getCog(), x1, y1) ;
65  vpPixelMeterConversion::convertPoint(cam, d2.getCog(), x2, y2) ;
66 
67  double xc = (x1+x2)/2.;
68  double yc = (y1+y2)/2.;
69  double l = sqrt( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
70 
71  if (s.isNormalized())
72  {
73  s.setXc( xc/l );
74  s.setYc( yc/l );
75  s.setL ( 1/l );
76  }
77  else
78  {
79  s.setXc( xc );
80  s.setYc( yc );
81  s.setL ( l );
82  }
83 
84  s.setAlpha(atan2(y1-y2,x1-x2));
85 }
86 
97  const vpDot2 &d1, const vpDot2 &d2)
98 {
99  double x1=0, y1=0, x2=0, y2=0;
100 
101  vpPixelMeterConversion::convertPoint(cam, d1.getCog(), x1, y1) ;
102  vpPixelMeterConversion::convertPoint(cam, d2.getCog(), x2, y2) ;
103 
104  double xc = (x1+x2)/2.;
105  double yc = (y1+y2)/2.;
106  double l = sqrt( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
107 
108  if (s.isNormalized())
109  {
110  s.setXc( xc/l );
111  s.setYc( yc/l );
112  s.setL ( 1/l );
113  }
114  else
115  {
116  s.setXc( xc );
117  s.setYc( yc );
118  s.setL ( l );
119  }
120 
121  s.setAlpha(atan2(y1-y2,x1-x2));
122 }
123 #endif //#ifdef VISP_HAVE_MODULE_BLOB
124 
135  const vpImagePoint &ip1, const vpImagePoint &ip2)
136 {
137  double x1=0, y1=0, x2=0, y2=0;
138 
139  vpPixelMeterConversion::convertPoint(cam, ip1, x1, y1) ;
140  vpPixelMeterConversion::convertPoint(cam, ip2, x2, y2) ;
141 
142  double xc = (x1+x2)/2.;
143  double yc = (y1+y2)/2.;
144  double l = sqrt( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
145 
146  if (s.isNormalized())
147  {
148  s.setXc( xc/l );
149  s.setYc( yc/l );
150  s.setL ( 1/l );
151  }
152  else
153  {
154  s.setXc( xc );
155  s.setYc( yc );
156  s.setL ( l );
157  }
158 
159  s.setAlpha(atan2(y1-y2,x1-x2));
160 }
161 
172 {
173  double x1 = P1.get_x();
174  double y1 = P1.get_y();
175  double x2 = P2.get_x();
176  double y2 = P2.get_y();
177 
178  double Z1 = P1.cP[2]/P1.cP[3];
179  double Z2 = P2.cP[2]/P2.cP[3];
180 
181  s.buildFrom(x1, y1, Z1, x2, y2, Z2);
182 }
void setAlpha(const double val)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:125
void setL(const double val)
Class that defines what is a point.
Definition: vpPoint.h:59
vpColVector cP
Definition: vpTracker.h:77
vpImagePoint getCog() const
Definition: vpDot.h:225
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Generic class defining intrinsic camera parameters.
void setYc(const double val)
void buildFrom(const double x1, const double y1, const double Z1, const double x2, const double y2, const double Z2)
double get_x() const
Get the point x coordinate in the image plane.
Definition: vpPoint.cpp:456
double get_y() const
Get the point y coordinate in the image plane.
Definition: vpPoint.cpp:458
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Definition: vpDot.h:116
vpImagePoint getCog() const
Definition: vpDot2.h:161
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setXc(const double val)