Visual Servoing Platform  version 3.6.1 under development (2024-03-29)
vpLine.cpp
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31  * Description:
32  * Line feature.
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34 *****************************************************************************/
35 
36 #include <visp3/core/vpLine.h>
37 
38 #include <visp3/core/vpDebug.h>
39 #include <visp3/core/vpMath.h>
40 
41 #include <visp3/core/vpFeatureDisplay.h>
42 
55 {
56  oP.resize(8);
57  cP.resize(8);
58  p.resize(2);
59 }
60 
65 
82 void vpLine::setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
83  const double &oA2, const double &oB2, const double &oC2, const double &oD2)
84 {
85  oP[0] = oA1;
86  oP[1] = oB1;
87  oP[2] = oC1;
88  oP[3] = oD1;
89 
90  oP[4] = oA2;
91  oP[5] = oB2;
92  oP[6] = oC2;
93  oP[7] = oD2;
94 }
95 
115 {
116  if (oP_.getRows() != 8)
117  throw vpException(vpException::dimensionError, "Size of oP is not equal to 8 as it should be");
118 
119  this->oP = oP_;
120 }
121 
144 {
145  if (oP1.getRows() != 4)
146  throw vpException(vpException::dimensionError, "Size of oP1 is not equal to 4 as it should be");
147 
148  if (oP2.getRows() != 4)
149  throw vpException(vpException::dimensionError, "Size of oP2 is not equal to 4 as it should be");
150 
151  for (unsigned int i = 0; i < 4; i++) {
152  oP[i] = oP1[i];
153  oP[i + 4] = oP2[i];
154  }
155 }
156 
191 
210 void vpLine::projection(const vpColVector &cP_, vpColVector &p_) const
211 {
212  p_.resize(2, false);
213  // projection
214 
215  if (cP.getRows() != 8)
216  throw vpException(vpException::dimensionError, "Size of cP is not equal to 8 as it should be");
217 
218  double A1, A2, B1, B2, C1, C2, D1, D2;
219 
220  A1 = cP_[0];
221  B1 = cP_[1];
222  C1 = cP_[2];
223  D1 = cP_[3];
224 
225  A2 = cP_[4];
226  B2 = cP_[5];
227  C2 = cP_[6];
228  D2 = cP_[7];
229 
230  double a, b, c, s;
231  a = A2 * D1 - A1 * D2;
232  b = B2 * D1 - B1 * D2;
233  c = C2 * D1 - C1 * D2;
234  s = a * a + b * b;
235  if (s <= 1e-8) // seuil pas terrible
236  {
237  printf("Degenerate case: the image of the straight line is a point!\n");
238  throw vpException(vpException::fatalError, "Degenerate case: the image of the straight line is a point!");
239  }
240  s = 1.0 / sqrt(s);
241 
242  double rho = -c * s;
243  double theta = atan2(b, a);
244 
245  p_[0] = rho;
246  p_[1] = theta;
247 }
248 
286 
328 {
329  cP_.resize(8, false);
330 
331  double a1, a2, b1, b2, c1, c2, d1, d2;
332  double A1, A2, B1, B2, C1, C2, D1, D2;
333 
334  // in case of verification
335  // double x,y,z,ap1,ap2,bp1,bp2,cp1,cp2,dp1,dp2;
336 
337  a1 = oP[0];
338  b1 = oP[1];
339  c1 = oP[2];
340  d1 = oP[3];
341 
342  a2 = oP[4];
343  b2 = oP[5];
344  c2 = oP[6];
345  d2 = oP[7];
346 
347  A1 = cMo[0][0] * a1 + cMo[0][1] * b1 + cMo[0][2] * c1;
348  B1 = cMo[1][0] * a1 + cMo[1][1] * b1 + cMo[1][2] * c1;
349  C1 = cMo[2][0] * a1 + cMo[2][1] * b1 + cMo[2][2] * c1;
350  D1 = d1 - (cMo[0][3] * A1 + cMo[1][3] * B1 + cMo[2][3] * C1);
351 
352  A2 = cMo[0][0] * a2 + cMo[0][1] * b2 + cMo[0][2] * c2;
353  B2 = cMo[1][0] * a2 + cMo[1][1] * b2 + cMo[1][2] * c2;
354  C2 = cMo[2][0] * a2 + cMo[2][1] * b2 + cMo[2][2] * c2;
355  D2 = d2 - (cMo[0][3] * A2 + cMo[1][3] * B2 + cMo[2][3] * C2);
356 
357  // in case of verification
358  // ap1 = A1; bp1 = B1; cp1 = C1; dp1 = D1;
359  // ap2 = A2; bp2 = B2; cp2 = C2; dp2 = D2;
360 
361  // vpERROR_TRACE("A1 B1 C1 D1 %f %f %f %f ", A1, B1, C1, D1) ;
362  // vpERROR_TRACE("A2 B2 C2 D2 %f %f %f %f ", A2, B2, C2, D2) ;
363 
364  // Adding constraints on the straight line to have a unique representation
365 
366  // direction of the straight line = N1 x N2
367  a2 = B1 * C2 - C1 * B2;
368  b2 = C1 * A2 - A1 * C2;
369  c2 = A1 * B2 - B1 * A2;
370 
371  // Constraint D1 = 0 (the origin belongs to P1)
372  a1 = A2 * D1 - A1 * D2;
373  b1 = B2 * D1 - B1 * D2;
374  c1 = C2 * D1 - C1 * D2;
375 
376  if (fabs(D2) < fabs(D1)) // to be sure that D2 <> 0
377  {
378  A2 = A1;
379  B2 = B1;
380  C2 = C1;
381  D2 = D1;
382  }
383 
384  // Constraint A1^2 + B1^2 + C1^2 = 1
385  d1 = 1.0 / sqrt(a1 * a1 + b1 * b1 + c1 * c1);
386  cP_[0] = A1 = a1 * d1;
387  cP_[1] = B1 = b1 * d1;
388  cP_[2] = C1 = c1 * d1;
389  cP_[3] = 0;
390 
391  // Constraint A1 A2 + B1 B2 + C1 C2 = 0 (P2 orthogonal to P1)
392  // N2_new = (N1 x N2) x N1_new
393  a1 = b2 * C1 - c2 * B1;
394  b1 = c2 * A1 - a2 * C1;
395  c1 = a2 * B1 - b2 * A1;
396 
397  // Constraint A2^2 + B2^2 + C2^2 = 1
398  d1 = 1.0 / sqrt(a1 * a1 + b1 * b1 + c1 * c1);
399  a1 *= d1;
400  b1 *= d1;
401  c1 *= d1;
402 
403  // D2_new = D2 / (N2^T . N2_new)
404  D2 /= (A2 * a1 + B2 * b1 + C2 * c1);
405  A2 = a1;
406  B2 = b1;
407  C2 = c1;
408 
409  // Constraint D2 < 0
410  if (D2 > 0) {
411  A2 = -A2;
412  B2 = -B2;
413  C2 = -C2;
414  D2 = -D2;
415  }
416  // vpERROR_TRACE("A1 B1 C1 D1 %f %f %f %f ", A1, B1, C1, D1) ;
417  // vpERROR_TRACE("A2 B2 C2 D2 %f %f %f %f ", A2, B2, C2, D2) ;
418 
419  cP_[4] = A2;
420  cP_[5] = B2;
421  cP_[6] = C2;
422  cP_[7] = D2;
423 
424  // in case of verification
425  /*
426  x = -A2*D2;
427  y = -B2*D2;
428  z = -C2*D2;
429  d1 = ap1*x+bp1*y+cp1*z+dp1;
430  d2 = ap2*x+bp2*y+cp2*z+dp2;
431  if ((fabs(d1) > 1e-8) || (fabs(d2) > 1e-8))
432  {
433  printf("PB in VPline: P1 : 0 = %lf, P2: 0 = %lf\n",d1,d2);
434  return EXIT_FAILURE;
435  }
436  d1 = A1*x+B1*y+C1*z+D1;
437  d2 = A2*x+B2*y+C2*z+D2;
438  if ((fabs(d1) > 1e-8) || (fabs(d2) > 1e-8))
439  {
440  printf("PB in VPline: Pn1 : 0 = %lf, Pn2: 0 = %lf\n",d1,d2);
441  return EXIT_FAILURE;
442  }
443  */
444 }
445 
462 void vpLine::display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color,
463  unsigned int thickness)
464 {
465  vpFeatureDisplay::displayLine(p[0], p[1], cam, I, color, thickness);
466 }
467 
483 void vpLine::display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color,
484  unsigned int thickness)
485 {
486  vpFeatureDisplay::displayLine(p[0], p[1], cam, I, color, thickness);
487 }
488 
512  const vpColor &color, unsigned int thickness)
513 {
514  vpColVector _cP, _p;
515  changeFrame(cMo, _cP);
516  try {
517  projection(_cP, _p);
518  vpFeatureDisplay::displayLine(_p[0], _p[1], cam, I, color, thickness);
519  } catch (...) {
520  // Skip potential exception: due to a degenerate case: the image of the straight line is a point!
521  }
522 }
523 
547  const vpColor &color, unsigned int thickness)
548 {
549  vpColVector _cP, _p;
550  changeFrame(cMo, _cP);
551  try {
552  projection(_cP, _p);
553  vpFeatureDisplay::displayLine(_p[0], _p[1], cam, I, color, thickness);
554  } catch (...) {
555  // Skip potential exception: due to a degenerate case: the image of the straight line is a point!
556  }
557 }
558 
570 {
571  vpLine *feature = new vpLine(*this);
572  return feature;
573 }
unsigned int getRows() const
Definition: vpArray2D.h:284
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:1056
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ dimensionError
Bad dimension.
Definition: vpException.h:83
@ fatalError
Fatal error.
Definition: vpException.h:84
static void displayLine(double rho, double theta, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:101
vpLine()
Definition: vpLine.cpp:64
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override
Definition: vpLine.cpp:327
vpLine * duplicate() const vp_override
Definition: vpLine.cpp:569
void init() vp_override
Definition: vpLine.cpp:54
void projection() vp_override
Definition: vpLine.cpp:190
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:82
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpLine.cpp:462
vpColVector cP
Definition: vpTracker.h:71
vpColVector p
Definition: vpTracker.h:67