vpSphere.cpp

/****************************************************************************
 *
 * $Id: vpSphere.cpp 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Sphere feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp/vpSphere.h>
#include <visp/vpFeatureDisplay.h>


void
vpSphere::init()
{

  oP.resize(4) ;
  cP.resize(4) ;

  p.resize(5) ;
}

void
vpSphere::setWorldCoordinates(const vpColVector& oP)
{
  this->oP = oP ;
}

void
vpSphere::setWorldCoordinates(const double X0, const double Y0,
                  const double Z0, const double R)
{
  oP[0] = X0 ;
  oP[1] = Y0 ;
  oP[2] = Z0 ;
  oP[3] = R ;
}



vpSphere::vpSphere()
{
  init() ;
}


vpSphere::vpSphere(const vpColVector& oP)
{
  init() ;
  setWorldCoordinates(oP) ;
}

vpSphere::vpSphere(const double X0, const double Y0,
           const double Z0, const double R)
{
  init() ;
  setWorldCoordinates(X0, Y0,  Z0,  R) ;
}

vpSphere::~vpSphere()
{
}


void
vpSphere::projection()
{
  projection(cP,p) ;
}

void
vpSphere::projection(const vpColVector &cP, vpColVector &p)
{
  double x0, y0, z0;  //variables intermediaires
//   double k0, k1, k2, k3, k4;  //variables intermediaires
  double E, A, B; //variables intermediaires

  //calcul des parametres M20, M11, M02 de l'ellipse
  double s, a, b, r, e;  //variables intermediaires
  r =  cP[3];

  x0 = cP[0] ;
  y0 = cP[1] ;
  z0 = cP[2] ;


  s = r*r - y0*y0 -z0*z0;

//   k0 = (r*r - x0*x0 -z0*z0)/s;
//   k1 = (x0*y0)/s;
//   k2 = (x0*z0)/s;
//   k3 = (y0*z0)/s;
//   k4 = (r*r - x0*x0 -y0*y0)/s;

  if ((s = z0*z0 - r*r) < 0.0)
  {
    vpERROR_TRACE("sphere derriere le plan image\n");
  }

  p[0] =  x0*z0/s ;  //x
  p[1] =  y0*z0/s ;  //y

  if (fabs(x0)  > 1e-6)
  {
    //   vpERROR_TRACE(" %f",r) ;
    e = y0/x0;
    b = r/sqrt(s);
    if ((a = x0*x0 + y0*y0 + z0*z0 - r*r) < 0.0)
    {
      vpERROR_TRACE("sphere derriere le plan image\n");
    }
    a = r*sqrt(a)/s;
    if (fabs(e) <= 1.0)
    {
      E =  e;
      A = a;
      B = b;
    }
    else
    {
      E = -1.0/e;
      A = b;
      B = a;
    }
  }
  else
  {
    //   vpERROR_TRACE(" %f",r) ;
    E = 0.0;
    A = r/sqrt(s);
    B = r*sqrt(y0*y0+z0*z0-r*r)/s;
  }

  p[2] = ( A*A + B*B * E*E) / (1.0 + E*E);  // mu20
  p[3] = ( A*A - B*B) * E / (1.0 + E*E);    // mu11
  p[4] = ( B*B + A*A * E*E) / (1.0 + E*E);  // mu02

  // vpERROR_TRACE(" %f",r) ;

  //  std::cout << p.t() ;

}
void
vpSphere::changeFrame(const vpHomogeneousMatrix &cMo)
{
  changeFrame(cMo,cP) ;
}

void
vpSphere::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
{

  double x0, y0, z0;  //variables intermediaires


  x0 = cMo[0][0]*oP[0] + cMo[0][1]*oP[1]  + cMo[0][2]*oP[2] + cMo[0][3];
  y0 = cMo[1][0]*oP[0] + cMo[1][1]*oP[1]  + cMo[1][2]*oP[2] + cMo[1][3];
  z0 = cMo[2][0]*oP[0] + cMo[2][1]*oP[1]  + cMo[2][2]*oP[2] + cMo[2][3];

  cP[3] = oP[3];

  cP[0] = x0 ;
  cP[1] = y0 ;
  cP[2] = z0 ;


}

vpSphere *vpSphere::duplicate() const
{
  vpSphere *feature = new vpSphere(*this) ;
  return feature ;
}



// non destructive wrt. cP and p
void vpSphere::display(const vpImage<unsigned char> &I,
                       const vpHomogeneousMatrix &cMo,
                       const vpCameraParameters &cam,
                       const vpColor &color,
                       const unsigned int thickness)
{
  vpColVector _cP, _p ;
  changeFrame(cMo,_cP) ;
  projection(_cP,_p) ;
  vpFeatureDisplay::displayEllipse(_p[0],_p[1],_p[2],_p[3], _p[4],
                   cam, I, color, thickness) ;

}



void vpSphere::display(const vpImage<unsigned char> &I,
                       const vpCameraParameters &cam,
                       const vpColor &color,
                       const unsigned int thickness)
{
  vpFeatureDisplay::displayEllipse(p[0],p[1],p[2],p[3], p[4],
                   cam, I, color, thickness) ;
}