vpFeatureBuilderPointPolar.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Conversion between tracker and visual feature point with
 * polar coordinates.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureException.h>
#include <visp3/core/vpException.h>

#ifdef VISP_HAVE_MODULE_BLOB

void vpFeatureBuilder::create(vpFeaturePointPolar &s,
                  const vpCameraParameters &cam,
                  const vpDot &dot)
{
  try {
    double x=0, y=0;

    vpImagePoint cog;
    cog = dot.getCog();

    vpPixelMeterConversion::convertPoint(cam, cog, x, y) ;

    double rho   = sqrt(x*x + y*y);
    double theta = atan2(y, x);
 
    s.set_rho(rho) ;
    s.set_theta(theta) ;
  }
  catch(...) {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}


void vpFeatureBuilder::create(vpFeaturePointPolar &s,
                  const vpCameraParameters &cam,
                  const vpDot2 &dot)
{
  try {
    double x=0, y=0;

    vpImagePoint cog;
    cog = dot.getCog();

    vpPixelMeterConversion::convertPoint(cam, cog, x, y) ;

    double rho   = sqrt(x*x + y*y);
    double theta = atan2(y, x);
 
    s.set_rho(rho) ;
    s.set_theta(theta) ;
  }
  catch(...) {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}
#endif //#ifdef VISP_HAVE_MODULE_BLOB


void vpFeatureBuilder::create(vpFeaturePointPolar &s,
                  const vpCameraParameters &cam,
                  const vpImagePoint &iP)
{
  try {
    double x=0, y=0;

    vpPixelMeterConversion::convertPoint(cam,iP,x,y) ;

    double rho   = sqrt(x*x + y*y);
    double theta = atan2(y, x);
 
    s.set_rho(rho) ;
    s.set_theta(theta) ;
  }
  catch(...) {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}


void
vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpPoint &p)
{
  try {

    double x = p.get_x();
    double y = p.get_y();

    double rho   = sqrt(x*x + y*y);
    double theta = atan2(y, x);

    s.set_rho(rho) ;
    s.set_theta(theta) ;

    s.set_Z( p.get_Z() )  ;


    if (s.get_Z() < 0) {
      vpERROR_TRACE("Point is behind the camera ") ;
      std::cout <<"Z = " << s.get_Z() << std::endl ;

      throw(vpFeatureException(vpFeatureException::badInitializationError,
                   "Point is behind the camera ")) ;
    }

    if (fabs(s.get_Z()) < 1e-6) {
      vpERROR_TRACE("Point Z coordinates is null ") ;
      std::cout <<"Z = " << s.get_Z() << std::endl ;

      throw(vpFeatureException(vpFeatureException::badInitializationError,
                   "Point Z coordinates is null")) ;
    }

  }
  catch(...) {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}

void
vpFeatureBuilder::create(vpFeaturePointPolar &s,
             const vpCameraParameters &goodCam,
             const vpCameraParameters &wrongCam,
             const vpPoint &p)
{
  try {
    double x = p.get_x();
    double y = p.get_y();

    s.set_Z( p.get_Z() );

    double u=0, v=0;
    vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
    vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);

    double rho   = sqrt(x*x + y*y);
    double theta = atan2(y, x);

    s.set_rho(rho) ;
    s.set_theta(theta) ;
  }
  catch(...) {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}


/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */