vpFeatureBuilderPointPolar.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 point with
 * polar coordinates.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

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

#ifdef VISP_HAVE_MODULE_BLOB

void vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot &dot)
{
  try {
    double x = 0, y = 0;

    vpImagePoint cog;
    cog = dot.getCog();

    vpPixelMeterConversion::convertPoint(cam, cog, x, y);

    double rho = sqrt(x * x + y * y);
    double theta = atan2(y, x);

    s.set_rho(rho);
    s.set_theta(theta);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot2 &dot)
{
  try {
    double x = 0, y = 0;

    vpImagePoint cog;
    cog = dot.getCog();

    vpPixelMeterConversion::convertPoint(cam, cog, x, y);

    double rho = sqrt(x * x + y * y);
    double theta = atan2(y, x);

    s.set_rho(rho);
    s.set_theta(theta);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
#endif //#ifdef VISP_HAVE_MODULE_BLOB

void vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpImagePoint &iP)
{
  try {
    double x = 0, y = 0;

    vpPixelMeterConversion::convertPoint(cam, iP, x, y);

    double rho = sqrt(x * x + y * y);
    double theta = atan2(y, x);

    s.set_rho(rho);
    s.set_theta(theta);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpPoint &p)
{
  try {

    double x = p.get_x();
    double y = p.get_y();

    double rho = sqrt(x * x + y * y);
    double theta = atan2(y, x);

    s.set_rho(rho);
    s.set_theta(theta);

    s.set_Z(p.get_Z());

    if (s.get_Z() < 0) {
      vpERROR_TRACE("Point is behind the camera ");
      std::cout << "Z = " << s.get_Z() << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
    }

    if (fabs(s.get_Z()) < 1e-6) {
      vpERROR_TRACE("Point Z coordinates is null ");
      std::cout << "Z = " << s.get_Z() << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
    }

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

void vpFeatureBuilder::create(vpFeaturePointPolar &s, const vpCameraParameters &goodCam,
                              const vpCameraParameters &wrongCam, const vpPoint &p)
{
  try {
    double x = p.get_x();
    double y = p.get_y();

    s.set_Z(p.get_Z());

    double u = 0, v = 0;
    vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
    vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);

    double rho = sqrt(x * x + y * y);
    double theta = atan2(y, x);

    s.set_rho(rho);
    s.set_theta(theta);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */