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)
{
  // 3D data
  double alpha = t.cP[0]; // A
  double beta = t.cP[1];  // B
  double gamma = t.cP[2]; // C

  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]);
}

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpSphere &t)
{
  // 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]);
}

#ifdef VISP_HAVE_MODULE_BLOB

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot &blob)
{
  double xc = 0, yc = 0;
  vpPixelMeterConversion::convertPoint(cam, blob.getCog(), xc, yc);
  vpColVector nij = blob.get_nij();

  s.buildFrom(xc, yc, nij[0], nij[1], nij[2]);
}

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot2 &blob)
{
  double xc = 0, yc = 0;
  vpPixelMeterConversion::convertPoint(cam, blob.getCog(), xc, yc);
  vpColVector nij = blob.get_nij();

  s.buildFrom(xc, yc, nij[0], nij[1], nij[2]);
}
#endif //#ifdef VISP_HAVE_MODULE_BLOB

#ifdef VISP_HAVE_MODULE_ME

void vpFeatureBuilder::create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpMeEllipse &ellipse)
{
  double xg, yg, n20, n11, n02;
  vpPixelMeterConversion::convertEllipse(cam, ellipse.getCenter(),
                                         ellipse.get_nij()[0], ellipse.get_nij()[1], ellipse.get_nij()[2],
                                         xg, yg, n20, n11, n02);

  s.buildFrom(xg, yg, n20, n11, n02);
}

#endif //#ifdef VISP_HAVE_MODULE_ME