vpFeatureBuilderVanishingPoint.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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:
 * Conversion between tracker and visual feature vanishing point.
 *
 * Authors:
 * Odile Bourquardez
 *
 *****************************************************************************/

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