41 #include <visp3/core/vpDisplay.h> 42 #include <visp3/core/vpImagePoint.h> 43 #include <visp3/core/vpMath.h> 44 #include <visp3/core/vpMeterPixelConversion.h> 45 #include <visp3/visual_features/vpBasicFeature.h> 46 #include <visp3/visual_features/vpFeatureSegment.h> 49 #include <visp3/core/vpException.h> 52 #include <visp3/core/vpDebug.h> 87 : xc_(0), yc_(0), l_(0), alpha_(0), Z1_(0), Z2_(0), cos_a_(0), sin_a_(0), normalized_(normalized)
196 if (
flags[i] ==
false) {
199 vpTRACE(
"Warning !!! The interaction matrix is computed but xc " 203 vpTRACE(
"Warning !!! The interaction matrix is computed but Yc " 207 vpTRACE(
"Warning !!! The interaction matrix is computed but l was " 211 vpTRACE(
"Warning !!! The interaction matrix is computed but alpha " 215 vpTRACE(
"Warning !!! The interaction matrix is computed but Z1 " 219 vpTRACE(
"Warning !!! The interaction matrix is computed but Z2 " 223 vpTRACE(
"Problem during the reading of the variable flags");
230 double lambda1 = (Z1_ - Z2_) / (Z1_ * Z2_);
231 double lambda2 = (Z1_ + Z2_) / (2 * Z1_ * Z2_);
238 double lambda = -lambda1 * ln;
239 double Zn_inv = lambda2 * ln;
240 double lc = cos_a_ / ln;
241 double ls = sin_a_ / ln;
242 double xnalpha = xn * cos_a_ + yn * sin_a_;
243 double lnc = cos_a_ * ln;
244 double lns = sin_a_ * ln;
248 Lxn[0][0] = -Zn_inv + lambda * xn * cos_a_;
249 Lxn[0][1] = lambda * xn * sin_a_;
250 Lxn[0][2] = lambda1 * (xn * xnalpha - cos_a_ / 4.);
251 Lxn[0][3] = sin_a_ * cos_a_ / 4 / ln - xn * xnalpha * sin_a_ / ln;
252 Lxn[0][4] = -ln * (1. + lc * lc / 4.) + xn * xnalpha * cos_a_ / ln;
259 Lyn[0][0] = lambda * yn * cos_a_;
260 Lyn[0][1] = -Zn_inv + lambda * yn * sin_a_;
261 Lyn[0][2] = lambda1 * (yn * xnalpha - sin_a_ / 4.);
262 Lyn[0][3] = ln * (1 + ls * ls / 4.) - yn * xnalpha * sin_a_ / ln;
263 Lyn[0][4] = -sin_a_ * cos_a_ / 4 / ln + yn * xnalpha * cos_a_ / ln;
270 Lln[0][0] = lambda * lnc;
271 Lln[0][1] = lambda * lns;
272 Lln[0][2] = -(Zn_inv + lambda * xnalpha);
273 Lln[0][3] = -yn - xnalpha * sin_a_;
274 Lln[0][4] = xn + xnalpha * cos_a_;
282 Lalpha[0][0] = -lambda1 * sin_a_ * l_;
283 Lalpha[0][1] = lambda1 * cos_a_ * l_;
284 Lalpha[0][2] = lambda1 * (xc_ * sin_a_ - yc_ * cos_a_);
285 Lalpha[0][3] = (-xc_ * sin_a_ * sin_a_ + yc_ * cos_a_ * sin_a_) / l_;
286 Lalpha[0][4] = (xc_ * cos_a_ * sin_a_ - yc_ * cos_a_ * cos_a_) / l_;
293 Lxc[0][0] = -lambda2;
295 Lxc[0][2] = lambda2 * xc_ - lambda1 * l_ * cos_a_ / 4.;
296 Lxc[0][3] = xc_ * yc_ + l_ * l_ * cos_a_ * sin_a_ / 4.;
297 Lxc[0][4] = -(1 + xc_ * xc_ + l_ * l_ * cos_a_ * cos_a_ / 4.);
305 Lyc[0][1] = -lambda2;
306 Lyc[0][2] = lambda2 * yc_ - lambda1 * l_ * sin_a_ / 4.;
307 Lyc[0][3] = 1 + yc_ * yc_ + l_ * l_ * sin_a_ * sin_a_ / 4.;
308 Lyc[0][4] = -xc_ * yc_ - l_ * l_ * cos_a_ * sin_a_ / 4.;
315 Ll[0][0] = lambda1 * cos_a_;
316 Ll[0][1] = lambda1 * sin_a_;
317 Ll[0][2] = lambda2 * l_ - lambda1 * (xc_ * cos_a_ + yc_ * sin_a_);
318 Ll[0][3] = l_ * (xc_ * cos_a_ * sin_a_ + yc_ * (1 + sin_a_ * sin_a_));
319 Ll[0][4] = -l_ * (xc_ * (1 + cos_a_ * cos_a_) + yc_ * cos_a_ * sin_a_);
325 Lalpha[0][0] = -lambda1 * sin_a_ / l_;
326 Lalpha[0][1] = lambda1 * cos_a_ / l_;
327 Lalpha[0][2] = lambda1 * (xc_ * sin_a_ - yc_ * cos_a_) / l_;
328 Lalpha[0][3] = -xc_ * sin_a_ * sin_a_ + yc_ * cos_a_ * sin_a_;
329 Lalpha[0][4] = xc_ * cos_a_ * sin_a_ - yc_ * cos_a_ * cos_a_;
369 exc[0] = xc_ - s_star[0];
375 eyc[0] = yc_ - s_star[1];
381 eL[0] = l_ - s_star[2];
387 eAlpha[0] = alpha_ - s_star[3];
388 while (eAlpha[0] < -M_PI)
389 eAlpha[0] += 2 * M_PI;
390 while (eAlpha[0] > M_PI)
391 eAlpha[0] -= 2 * M_PI;
426 std::cout <<
"vpFeatureSegment: (";
429 std::cout <<
"xn = ";
431 std::cout <<
"xc = ";
432 std::cout <<
s[0] <<
"; ";
436 std::cout <<
"yn = ";
438 std::cout <<
"yc = ";
439 std::cout <<
s[1] <<
"; ";
443 std::cout <<
"ln = ";
446 std::cout <<
s[2] <<
"; ";
451 std::cout <<
")" << std::endl;
484 unsigned int thickness)
const 497 double x1 = x - (l / 2.) * cos_a_;
498 double x2 = x + (l / 2.) * cos_a_;
500 double y1 = y - (l / 2.) * sin_a_;
501 double y2 = y + (l / 2.) * sin_a_;
522 unsigned int thickness)
const 535 double x1 = x - (l / 2.) * cos_a_;
536 double x2 = x + (l / 2.) * cos_a_;
538 double y1 = y - (l / 2.) * sin_a_;
539 double y2 = y + (l / 2.) * sin_a_;
569 double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
570 double x_c = (x1 + x2) / 2.;
571 double y_c = (y1 + y2) / 2.;
572 double alpha = atan2(y1 - y2, x1 - x2);
Implementation of a matrix and operations on matrices.
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static unsigned int selectAlpha()
void setAlpha(const double val)
static unsigned int selectYc()
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Class to define colors available for display functionnalities.
void stack(const vpMatrix &A)
unsigned int dim_s
Dimension of the visual feature.
void setL(const double val)
void setZ1(const double val)
class that defines what is a visual feature
static const vpColor cyan
void setZ2(const double val)
static unsigned int selectL()
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Generic class defining intrinsic camera parameters.
vpFeatureSegment(bool normalized=false)
static const unsigned int FEATURE_LINE[32]
void setYc(const double val)
void buildFrom(const double x1, const double y1, const double Z1, const double x2, const double y2, const double Z2)
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
vpBasicFeatureDeallocatorType deallocate
static double deg(double rad)
Implementation of column vector and the associated operations.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
static const vpColor yellow
vpFeatureSegment * duplicate() const
Feature duplication.
static unsigned int selectXc()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector s
State of the visual feature.
void resize(const unsigned int i, const bool flagNullify=true)
void setXc(const double val)
void print(const unsigned int select=FEATURE_ALL) const