vpFeatureDisplay.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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Interface with the image for feature display.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpFeatureDisplay.h>

// Meter/pixel conversion
#include <visp3/core/vpMeterPixelConversion.h>

// display
#include <visp3/core/vpDisplay.h>

// Debug trace
#include <visp3/core/vpDebug.h>

// math
#include <visp3/core/vpMath.h>

#include <visp3/core/vpImagePoint.h>

void vpFeatureDisplay::displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage<unsigned char> &I,
                                    const vpColor &color, unsigned int thickness)
{
  try {
    vpImagePoint ip; // pixel coordinates in float
    vpMeterPixelConversion::convertPoint(cam, x, y, ip);

    vpDisplay::displayCross(I, ip, 15, color, thickness);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
void vpFeatureDisplay::displayLine(double rho, double theta, const vpCameraParameters &cam,
                                   const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness)
{

  try {
    //    x cos(theta) + y sin(theta) - rho = 0

    double rhop, thetap;
    vpMeterPixelConversion::convertLine(cam, rho, theta, rhop, thetap);

    //    u cos(thetap) + v sin(thetap) - rhop = 0

    double co = cos(thetap);
    double si = sin(thetap);
    double c = -rhop;

    // vpTRACE("rhop %f %f ",rhop, atan2(si,co)) ;
    // double u1,v1,u2,v2 ;

    double a = si;
    double b = co;
    vpImagePoint ip1, ip2;

    if (fabs(a) < fabs(b)) {
      ip1.set_ij(0, (-c) / b);
      double h = I.getHeight() - 1;
      ip2.set_ij(h, (-c - a * h) / b);
      vpDisplay::displayLine(I, ip1, ip2, color, thickness);
    } else {
      ip1.set_ij((-c) / a, 0);
      double w = I.getWidth() - 1;
      ip2.set_ij((-c - b * w) / a, w);
      vpDisplay::displayLine(I, ip1, ip2, color, thickness);
    }
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
void vpFeatureDisplay::displayCylinder(double rho1, double theta1, double rho2, double theta2,
                                       const vpCameraParameters &cam, const vpImage<unsigned char> &I,
                                       const vpColor &color, unsigned int thickness)
{
  try {
    displayLine(rho1, theta1, cam, I, color, thickness);
    displayLine(rho2, theta2, cam, I, color, thickness);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
void vpFeatureDisplay::displayEllipse(double x, double y, double mu20, double mu11, double mu02,
                                      const vpCameraParameters &cam, const vpImage<unsigned char> &I,
                                      const vpColor &color, unsigned int thickness)
{
  try {
    unsigned int number_of_points = 45;
    const double incr = 2 * M_PI / (double)number_of_points; // angle increment
    unsigned int i = 0;

    double s = sqrt(vpMath::sqr(mu20 - mu02) + 4 * mu11 * mu11);
    double a, b, e;

    // if (fabs(mu11)<1e-6) e =0 ;
    if (fabs(mu11) < std::numeric_limits<double>::epsilon()) {
      e = 0;
      a = sqrt(mu20);
      b = sqrt(mu02);
    } else {
      e = (mu02 - mu20 + s) / (2 * mu11);
      a = sqrt((mu02 + mu20 + s) / 2.0);
      b = sqrt((mu02 + mu20 - s) / 2.0);
    }

    double e1 = atan(e);

    double k = 0.0;

    double ce = cos(e1);
    double se = sin(e1);

    double x2 = 0;
    double y2 = 0;
    vpImagePoint ip1, ip2;

    for (i = 0; i < number_of_points + 2; i++) {
      double x1 = a * cos(k); // equation of an ellipse
      double y1 = b * sin(k); // equation of an ellipse
      double x11 = x + ce * x1 - se * y1;
      double y11 = y + se * x1 + ce * y1;

      vpMeterPixelConversion::convertPoint(cam, x11, y11, ip1);

      if (i > 1) {
        ip2.set_u(x2);
        ip2.set_v(y2);

        vpDisplay::displayLine(I, ip1, ip2, color, thickness);
      }

      ip2 = ip1;
      y2 = y1;
      x2 = x1;
      k += incr;
    } // end for loop
  } catch (vpException &e) {
    throw(e);
  }
}

void vpFeatureDisplay::displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage<vpRGBa> &I,
                                    const vpColor &color, unsigned int thickness)
{
  try {
    vpImagePoint ip; // pixel coordinates in float
    vpMeterPixelConversion::convertPoint(cam, x, y, ip);

    vpDisplay::displayCross(I, ip, 15, color, thickness);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpFeatureDisplay::displayLine(double rho, double theta, const vpCameraParameters &cam, const vpImage<vpRGBa> &I,
                                   const vpColor &color, unsigned int thickness)
{

  try {
    //    x cos(theta) + y sin(theta) - rho = 0

    double rhop, thetap;
    vpMeterPixelConversion::convertLine(cam, rho, theta, rhop, thetap);

    //    u cos(thetap) + v sin(thetap) - rhop = 0

    double co = cos(thetap);
    double si = sin(thetap);
    double c = -rhop;

    // vpTRACE("rhop %f %f ",rhop, atan2(si,co)) ;
    // double u1,v1,u2,v2 ;

    double a = si;
    double b = co;
    vpImagePoint ip1, ip2;

    if (fabs(a) < fabs(b)) {
      ip1.set_ij(0, (-c) / b);
      double h = I.getHeight() - 1;
      ip2.set_ij(h, (-c - a * h) / b);
      vpDisplay::displayLine(I, ip1, ip2, color, thickness);
    } else {
      ip1.set_ij((-c) / a, 0);
      double w = I.getWidth() - 1;
      ip2.set_ij((-c - b * w) / a, w);
      vpDisplay::displayLine(I, ip1, ip2, color, thickness);
    }
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
void vpFeatureDisplay::displayCylinder(double rho1, double theta1, double rho2, double theta2,
                                       const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
                                       unsigned int thickness)
{
  try {
    displayLine(rho1, theta1, cam, I, color, thickness);
    displayLine(rho2, theta2, cam, I, color, thickness);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpFeatureDisplay::displayEllipse(double x, double y, double mu20, double mu11, double mu02,
                                      const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
                                      unsigned int thickness)
{
  try {
    unsigned int number_of_points = 45;
    const double incr = 2 * M_PI / (double)number_of_points; // angle increment
    unsigned int i = 0;

    double s = sqrt(vpMath::sqr(mu20 - mu02) + 4 * mu11 * mu11);
    double a, b, e;

    // if (fabs(mu11)<1e-6) e =0 ;
    if (fabs(mu11) < std::numeric_limits<double>::epsilon()) {
      e = 0;
      a = sqrt(mu20);
      b = sqrt(mu02);
    } else {
      e = (mu02 - mu20 + s) / (2 * mu11);
      a = sqrt((mu02 + mu20 + s) / 2.0);
      b = sqrt((mu02 + mu20 - s) / 2.0);
    }

    double e1 = atan(e);

    double k = 0.0;

    double ce = cos(e1);
    double se = sin(e1);

    double x2 = 0;
    double y2 = 0;
    vpImagePoint ip1, ip2;

    for (i = 0; i < number_of_points + 2; i++) {
      double x1 = a * cos(k); // equation of an ellipse
      double y1 = b * sin(k); // equation of an ellipse
      double x11 = x + ce * x1 - se * y1;
      double y11 = y + se * x1 + ce * y1;

      vpMeterPixelConversion::convertPoint(cam, x11, y11, ip1);

      if (i > 1) {
        ip2.set_u(x2);
        ip2.set_v(y2);

        vpDisplay::displayLine(I, ip1, ip2, color, thickness);
      }

      ip2 = ip1;
      y2 = y1;
      x2 = x1;
      k += incr;
    } // end for loop
  } catch (vpException &e) {
    throw(e);
  }
}