vpFeatureBuilderEllipse.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 ellipse.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#include <visp3/core/vpMath.h>
#include <visp3/visual_features/vpFeatureBuilder.h>

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCircle &t)
{
  try {

    // 3D data
    double alpha = t.cP[0];
    double beta = t.cP[1];
    double gamma = t.cP[2];

    double X0 = t.cP[3];
    double Y0 = t.cP[4];
    double Z0 = t.cP[5];

    // equation p 318 prior eq (39)
    double d = alpha * X0 + beta * Y0 + gamma * Z0;

    double A = alpha / d;
    double B = beta / d;
    double C = gamma / d;

    s.setABC(A, B, C);

    // 2D data
    s.buildFrom(t.p[0], t.p[1], t.p[2], t.p[3], t.p[4]);

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

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpSphere &t)
{
  try {

    // 3D data
    double X0 = t.cP[0];
    double Y0 = t.cP[1];
    double Z0 = t.cP[2];
    double R = t.cP[3];

    double d = vpMath::sqr(X0) + vpMath::sqr(Y0) + vpMath::sqr(Z0) - vpMath::sqr(R);

    double A = X0 / d;
    double B = Y0 / d;
    double C = Z0 / d;

    s.setABC(A, B, C);

    // 2D data
    s.buildFrom(t.p[0], t.p[1], t.p[2], t.p[3], t.p[4]);

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

#ifdef VISP_HAVE_MODULE_BLOB

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot &t)
{
  try {

    unsigned int order = 3;
    vpMatrix mp(order, order);
    mp = 0;
    vpMatrix m(order, order);
    m = 0;

    mp[0][0] = t.m00;
    mp[1][0] = t.m10;
    mp[0][1] = t.m01;
    mp[2][0] = t.m20;
    mp[1][1] = t.m11;
    mp[0][2] = t.m02;

    vpPixelMeterConversion::convertMoment(cam, order, mp, m);

    double m00 = m[0][0];
    double m01 = m[0][1];
    double m10 = m[1][0];
    double m02 = m[0][2];
    double m11 = m[1][1];
    double m20 = m[2][0];

    double xc = m10 / m00; // sum j /S
    double yc = m01 / m00; // sum i /S

    double mu20 = 4 * (m20 - m00 * vpMath::sqr(xc)) / (m00);
    double mu02 = 4 * (m02 - m00 * vpMath::sqr(yc)) / (m00);
    double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);

    s.buildFrom(xc, yc, mu20, mu11, mu02);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot2 &t)
{
  try {

    unsigned int order = 3;
    vpMatrix mp(order, order);
    mp = 0;
    vpMatrix m(order, order);
    m = 0;

    mp[0][0] = t.m00;
    mp[1][0] = t.m10;
    mp[0][1] = t.m01;
    mp[2][0] = t.m20;
    mp[1][1] = t.m11;
    mp[0][2] = t.m02;

    vpPixelMeterConversion::convertMoment(cam, order, mp, m);

    double m00 = m[0][0];
    double m01 = m[0][1];
    double m10 = m[1][0];
    double m02 = m[0][2];
    double m11 = m[1][1];
    double m20 = m[2][0];

    double xc = m10 / m00; // sum j /S
    double yc = m01 / m00; // sum i /S

    double mu20 = 4 * (m20 - m00 * vpMath::sqr(xc)) / (m00);
    double mu02 = 4 * (m02 - m00 * vpMath::sqr(yc)) / (m00);
    double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);

    s.buildFrom(xc, yc, mu20, mu11, mu02);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
#endif //#ifdef VISP_HAVE_MODULE_BLOB

#ifdef VISP_HAVE_MODULE_ME

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpMeEllipse &t)
{
  try {

    unsigned int order = 3;
    vpMatrix mp(order, order);
    mp = 0;
    vpMatrix m(order, order);
    m = 0;

    // The opposite of vpDot and vpDot2 because moments in vpMeEllipse
    // are computed in the ij coordinate system whereas the moments in vpDot
    // and vpDot2  are computed in the uv coordinate system
    mp[0][0] = t.get_m00();
    mp[1][0] = t.get_m01();
    mp[0][1] = t.get_m10();
    mp[2][0] = t.get_m02();
    mp[1][1] = t.get_m11();
    mp[0][2] = t.get_m20();

    vpPixelMeterConversion::convertMoment(cam, order, mp, m);

    double m00 = m[0][0];
    double m01 = m[0][1];
    double m10 = m[1][0];
    double m02 = m[0][2];
    double m11 = m[1][1];
    double m20 = m[2][0];

    double xc = m10 / m00; // sum j /S
    double yc = m01 / m00; // sum i /S

    double mu20 = 4 * (m20 - m00 * vpMath::sqr(xc)) / (m00);
    double mu02 = 4 * (m02 - m00 * vpMath::sqr(yc)) / (m00);
    double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);

    s.buildFrom(xc, yc, mu20, mu11, mu02);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
#endif //#ifdef VISP_HAVE_MODULE_ME