44 #include <visp/vpBasicFeature.h>
45 #include <visp/vpFeatureSegment.h>
46 #include <visp/vpImagePoint.h>
47 #include <visp/vpMeterPixelConversion.h>
48 #include <visp/vpMath.h>
49 #include <visp/vpDisplay.h>
53 #include <visp/vpException.h>
54 #include <visp/vpMatrixException.h>
57 #include <visp/vpDebug.h>
95 this->normalized_ = normalized;
209 if (
flags[i] ==
false)
213 vpTRACE(
"Warning !!! The interaction matrix is computed but xc was not set yet");
216 vpTRACE(
"Warning !!! The interaction matrix is computed but Yc was not set yet");
219 vpTRACE(
"Warning !!! The interaction matrix is computed but l was not set yet");
222 vpTRACE(
"Warning !!! The interaction matrix is computed but alpha was not set yet");
225 vpTRACE(
"Warning !!! The interaction matrix is computed but Z1 was not set yet");
228 vpTRACE(
"Warning !!! The interaction matrix is computed but Z2 was not set yet");
231 vpTRACE(
"Problem during the reading of the variable flags");
238 double lambda1 = (Z1_-Z2_)/(Z1_*Z2_);
239 double lambda2 = (Z1_+Z2_)/(2*Z1_*Z2_);
247 double lambda = -lambda1 * ln;
248 double Zn_inv = lambda2 * ln;
249 double lc = cos_a_ / ln;
250 double ls = sin_a_ / ln;
251 double xnalpha = xn*cos_a_+yn*sin_a_;
252 double lnc = cos_a_ * ln;
253 double lns = sin_a_ * ln;
257 Lxn[0][0] = -Zn_inv + lambda * xn * cos_a_;
258 Lxn[0][1] = lambda * xn * sin_a_ ;
259 Lxn[0][2] = lambda1 * (xn*xnalpha - cos_a_ /4.);
260 Lxn[0][3] = sin_a_*cos_a_/4/ln - xn*xnalpha*sin_a_/ln;
261 Lxn[0][4] = -ln*(1.+lc*lc/4.) + xn*xnalpha*cos_a_/ln ;
268 Lyn[0][0] = lambda*yn*cos_a_ ;
269 Lyn[0][1] = -Zn_inv + lambda*yn*sin_a_ ;
270 Lyn[0][2] = lambda1 * (yn*xnalpha - sin_a_/4.);
271 Lyn[0][3] = ln*(1+ls*ls/4.)-yn*xnalpha*sin_a_/ln ;
272 Lyn[0][4] = -sin_a_*cos_a_/4/ln + yn*xnalpha*cos_a_/ln;
279 Lln[0][0] = lambda * lnc ;
280 Lln[0][1] = lambda * lns ;
281 Lln[0][2] = -(Zn_inv + lambda*xnalpha);
282 Lln[0][3] = -yn-xnalpha*sin_a_ ;
283 Lln[0][4] = xn + xnalpha*cos_a_ ;
293 Lxc[0][0] = -lambda2 ;
295 Lxc[0][2] = lambda2*xc_ - lambda1*l_*cos_a_/4.;
297 Lxc[0][3] = xc_*yc_ + l_*l_*cos_a_*sin_a_/4. ;
298 Lxc[0][4] = -(1+xc_*xc_+l_*l_*cos_a_*cos_a_/4.) ;
306 Lyc[0][1] = -lambda2 ;
307 Lyc[0][2] = lambda2*yc_ - lambda1*l_*sin_a_/4.;
308 Lyc[0][3] = 1+yc_*yc_+l_*l_*sin_a_*sin_a_/4. ;
309 Lyc[0][4] = -xc_*yc_-l_*l_*cos_a_*sin_a_/4. ;
316 Ll[0][0] = lambda1*cos_a_ ;
317 Ll[0][1] = lambda1*sin_a_ ;
318 Ll[0][2] = lambda2*l_-lambda1*(xc_*cos_a_+yc_*sin_a_);
319 Ll[0][3] = l_*(xc_*cos_a_*sin_a_ + yc_*(1+sin_a_*sin_a_)) ;
320 Ll[0][4] = -l_*(xc_*(1+cos_a_*cos_a_)+yc_*cos_a_*sin_a_) ;
327 Lalpha[0][0] = -lambda1*sin_a_/l_ ;
328 Lalpha[0][1] = lambda1*cos_a_/l_ ;
329 Lalpha[0][2] = lambda1*(xc_*sin_a_-yc_*cos_a_)/l_;
330 Lalpha[0][3] = -xc_*sin_a_*sin_a_+yc_*cos_a_*sin_a_;
331 Lalpha[0][4] = xc_*cos_a_*sin_a_ - yc_*cos_a_*cos_a_ ;
370 exc[0] = xc_-s_star[0];
376 eyc[0] = yc_ - s_star[1];
382 eL[0] = l_ - s_star[2];
388 eAlpha[0] = alpha_ - s_star[3];
389 while (eAlpha[0] < -M_PI) eAlpha[0] += 2*M_PI ;
390 while (eAlpha[0] > M_PI) eAlpha[0] -= 2*M_PI ;
425 std::cout <<
"vpFeatureSegment: (";
428 std::cout <<
"xn = ";
430 std::cout <<
"xc = ";
431 std::cout <<
s[0] <<
"; ";
435 std::cout <<
"yn = ";
437 std::cout <<
"yc = ";
438 std::cout <<
s[1] <<
"; ";
442 std::cout <<
"ln = ";
445 std::cout <<
s[2] <<
"; ";
450 std::cout <<
")" << std::endl;
486 unsigned int thickness )
const
500 double x1 = x - (l/2.)*cos_a_;
501 double x2 = x + (l/2.)*cos_a_;
503 double y1 = y - (l/2.)*sin_a_;
504 double y2 = y + (l/2.)*sin_a_;
528 unsigned int thickness )
const
542 double x1 = x - (l/2.)*cos_a_;
543 double x2 = x + (l/2.)*cos_a_;
545 double y1 = y - (l/2.)*sin_a_;
546 double y2 = y + (l/2.)*sin_a_;
575 const double x2,
const double y2,
const double Z2)
577 double l = sqrt( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
578 double x_c = (x1+x2)/2.;
579 double y_c = (y1+y2)/2.;
580 double alpha = atan2(y1-y2,x1-x2);
virtual void displayCircle(const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)=0
Definition of the vpMatrix class.
bool * flags
Ensure that all the parameters needed to compute the iteraction matrix are set.
static unsigned int selectL()
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
void resize(const unsigned int nrows, const unsigned int ncols, const bool nullify=true)
void setAlpha(const double val)
static unsigned int selectYc()
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Point coordinates conversion from normalized coordinates in meter to pixel coordinates ...
Class to define colors available for display functionnalities.
static unsigned int selectAlpha()
unsigned int dim_s
Dimension of the visual feature.
void setL(const double val)
void setZ1(const double val)
class that defines what is a visual feature
static const vpColor cyan
void setZ2(const double val)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Generic class defining intrinsic camera parameters.
vpFeatureSegment(bool normalized=false)
void setYc(const double val)
static vpMatrix stackMatrices(const vpMatrix &A, const vpMatrix &B)
Stack two Matrices C = [ A B ]^T.
void buildFrom(const double x1, const double y1, const double Z1, const double x2, const double y2, const double Z2)
vpBasicFeatureDeallocatorType deallocate
static double deg(double rad)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
virtual void displayLine(const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)=0
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
static const vpColor yellow
vpFeatureSegment * duplicate() const
Feature duplication.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
static unsigned int selectXc()
vpColVector s
State of the visual feature.
void resize(const unsigned int i, const bool flagNullify=true)
void setXc(const double val)
void print(const unsigned int select=FEATURE_ALL) const