vpFeatureBuilderVanishingPoint.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 vanishing point.
 *
 * Authors:
 * Odile Bourquardez
 *
 *****************************************************************************/


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


void
vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpPoint &t)
{
  try
  {
    s.set_x( t.get_x()) ;
    s.set_y( t.get_y()) ;
  }
  catch(...)
  {
    vpERROR_TRACE("Cannot create vanishing point feature") ;
    throw ;
  }
}


void
vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpFeatureLine &L1, const vpFeatureLine &L2 )
{
  double rho_l;
  double rho_r;
  double theta_l;
  double theta_r;
  double c_l;
  double s_l;
  double c_r;
  double s_r;

  rho_l   = L1.getRho();
  rho_r   = L2.getRho();
  theta_l = L1.getTheta();
  theta_r = L2.getTheta();
  c_l = cos(theta_l);
  c_r = cos(theta_r);
  s_l = sin(theta_l);
  s_r = sin(theta_r);


  double x,y;

  double min = 0.0001;
  if(fabs(theta_r-theta_l)<min || fabs(fabs(theta_r-theta_l)-M_PI)<min \
     || fabs(fabs(theta_r-theta_l)-2*M_PI)<min)
  {
    vpCERROR<<"There is no vanishing point : the lines are parallel in the image plane"<<std::endl;
    throw(vpFeatureException(vpFeatureException::badInitializationError,
           "There is no vanishing point : the lines are parallel in the image plane")) ;
  }

  y = (rho_r *c_l - rho_l * c_r) / (-s_l * c_r + s_r * c_l );
  x = (rho_r *s_l - rho_l * s_r) / (-c_l * s_r + c_r * s_l );

  s.set_x ( x );
  s.set_y ( y );
}



void
vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpLine &L1, const vpLine &L2)
{
  vpFeatureLine l1,l2 ;
  vpFeatureBuilder::create (l1,L1) ;
  vpFeatureBuilder::create (l2,L2) ;

  vpFeatureBuilder::create (s, l1, l2)  ;

}