Visual Servoing Platform  version 3.4.1 under development (2021-07-27)
vpCircle.cpp
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30  *
31  * Description:
32  * Visual feature circle.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpCircle.h>
40 
41 #include <visp3/core/vpFeatureDisplay.h>
42 
44 {
45  oP.resize(7);
46  cP.resize(7);
47 
48  p.resize(5);
49 }
50 
60 void vpCircle::setWorldCoordinates(const vpColVector &oP_) { this->oP = oP_; }
61 
72 void vpCircle::setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R)
73 {
74  oP[0] = oA;
75  oP[1] = oB;
76  oP[2] = oC;
77  oP[3] = oX;
78  oP[4] = oY;
79  oP[5] = oZ;
80  oP[6] = R;
81 }
82 
87 
100 {
101  init();
102  setWorldCoordinates(oP_);
103 }
104 
118 vpCircle::vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R)
119 {
120  init();
121  setWorldCoordinates(oA, oB, oC, oX, oY, oZ, R);
122 }
123 
128 
141 
160 void vpCircle::projection(const vpColVector &cP_, vpColVector &p_) const
161 {
162  p_.resize(5, false);
163 
164  vpColVector K(6);
165  {
166  double A = cP_[0];
167  double B = cP_[1];
168  double C = cP_[2];
169 
170  double X0 = cP_[3];
171  double Y0 = cP_[4];
172  double Z0 = cP_[5];
173 
174  double r = cP_[6];
175 
176  // projection
177  double s = X0 * X0 + Y0 * Y0 + Z0 * Z0 - r * r;
178  double det = A * X0 + B * Y0 + C * Z0;
179  A = A / det;
180  B = B / det;
181  C = C / det;
182 
183  K[0] = 1 - 2 * A * X0 + A * A * s;
184  K[1] = 1 - 2 * B * Y0 + B * B * s;
185  K[2] = -A * Y0 - B * X0 + A * B * s;
186  K[3] = -C * X0 - A * Z0 + A * C * s;
187  K[4] = -C * Y0 - B * Z0 + B * C * s;
188  K[5] = 1 - 2 * C * Z0 + C * C * s;
189  }
190 
191  double det = K[2] * K[2] - K[0] * K[1];
192  if (fabs(det) < 1e-8) {
193  throw(vpException(vpException::divideByZeroError, "division par 0"));
194  }
195 
196  double xc = (K[1] * K[3] - K[2] * K[4]) / det;
197  double yc = (K[0] * K[4] - K[2] * K[3]) / det;
198 
199  double c = sqrt((K[0] - K[1]) * (K[0] - K[1]) + 4 * K[2] * K[2]);
200  double s = 2 * (K[0] * xc * xc + 2 * K[2] * xc * yc + K[1] * yc * yc - K[5]);
201 
202  double A, B, E;
203 
204  if (fabs(K[2]) < std::numeric_limits<double>::epsilon()) {
205  E = 0.0;
206  if (K[0] > K[1]) {
207  A = sqrt(s / (K[0] + K[1] + c));
208  B = sqrt(s / (K[0] + K[1] - c));
209  } else {
210  A = sqrt(s / (K[0] + K[1] - c));
211  B = sqrt(s / (K[0] + K[1] + c));
212  }
213  } else {
214  E = (K[1] - K[0] + c) / (2 * K[2]);
215  if (fabs(E) > 1.0) {
216  A = sqrt(s / (K[0] + K[1] + c));
217  B = sqrt(s / (K[0] + K[1] - c));
218  } else {
219  A = sqrt(s / (K[0] + K[1] - c));
220  B = sqrt(s / (K[0] + K[1] + c));
221  E = -1.0 / E;
222  }
223  }
224 
225  // Chaumette PhD Thesis 1990, eq 2.72 divided by 4 since n_ij = mu_ij_chaumette_thesis / 4
226  det = 4 * (1.0 + vpMath::sqr(E));
227  double n20 = (vpMath::sqr(A) + vpMath::sqr(B * E)) / det;
228  double n11 = (vpMath::sqr(A) - vpMath::sqr(B)) * E / det;
229  double n02 = (vpMath::sqr(B) + vpMath::sqr(A * E)) / det;
230 
231  p_[0] = xc;
232  p_[1] = yc;
233  p_[2] = n20;
234  p_[3] = n11;
235  p_[4] = n02;
236 }
237 void vpCircle::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP_) const
246 {
247  cP_.resize(7, false);
248 
249  double A, B, C;
250  A = cMo[0][0] * oP[0] + cMo[0][1] * oP[1] + cMo[0][2] * oP[2];
251  B = cMo[1][0] * oP[0] + cMo[1][1] * oP[1] + cMo[1][2] * oP[2];
252  C = cMo[2][0] * oP[0] + cMo[2][1] * oP[1] + cMo[2][2] * oP[2];
253 
254  double X0, Y0, Z0;
255  X0 = cMo[0][3] + cMo[0][0] * oP[3] + cMo[0][1] * oP[4] + cMo[0][2] * oP[5];
256  Y0 = cMo[1][3] + cMo[1][0] * oP[3] + cMo[1][1] * oP[4] + cMo[1][2] * oP[5];
257  Z0 = cMo[2][3] + cMo[2][0] * oP[3] + cMo[2][1] * oP[4] + cMo[2][2] * oP[5];
258  double R = oP[6];
259 
260  cP_[0] = A;
261  cP_[1] = B;
262  cP_[2] = C;
263 
264  cP_[3] = X0;
265  cP_[4] = Y0;
266  cP_[5] = Z0;
267 
268  cP_[6] = R;
269 }
270 
278 {
279  double A, B, C;
280  A = cMo[0][0] * oP[0] + cMo[0][1] * oP[1] + cMo[0][2] * oP[2];
281  B = cMo[1][0] * oP[0] + cMo[1][1] * oP[1] + cMo[1][2] * oP[2];
282  C = cMo[2][0] * oP[0] + cMo[2][1] * oP[1] + cMo[2][2] * oP[2];
283 
284  double X0, Y0, Z0;
285  X0 = cMo[0][3] + cMo[0][0] * oP[3] + cMo[0][1] * oP[4] + cMo[0][2] * oP[5];
286  Y0 = cMo[1][3] + cMo[1][0] * oP[3] + cMo[1][1] * oP[4] + cMo[1][2] * oP[5];
287  Z0 = cMo[2][3] + cMo[2][0] * oP[3] + cMo[2][1] * oP[4] + cMo[2][2] * oP[5];
288  double R = oP[6];
289 
290  cP[0] = A;
291  cP[1] = B;
292  cP[2] = C;
293 
294  cP[3] = X0;
295  cP[4] = Y0;
296  cP[5] = Z0;
297 
298  cP[6] = R;
299 }
300 
309 void vpCircle::display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color,
310  unsigned int thickness)
311 {
312  vpFeatureDisplay::displayEllipse(p[0], p[1], p[2], p[3], p[4], cam, I, color, thickness);
313 }
314 
327  const vpColor &color, unsigned int thickness)
328 {
329  vpColVector _cP, _p;
330  changeFrame(cMo, _cP);
331  projection(_cP, _p);
332  vpFeatureDisplay::displayEllipse(_p[0], _p[1], _p[2], _p[3], _p[4], cam, I, color, thickness);
333 }
336 {
337  vpCircle *feature = new vpCircle(*this);
338  return feature;
339 }
340 
358 void vpCircle::computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
359  const double &theta, double &i, double &j)
360 {
361  // This was taken from the code of art-v1. (from the artCylinder class)
362  double px = cam.get_px();
363  double py = cam.get_py();
364  double u0 = cam.get_u0();
365  double v0 = cam.get_v0();
366 
367  double n11 = circle.p[3];
368  double n02 = circle.p[4];
369  double n20 = circle.p[2];
370  double Xg = u0 + circle.p[0] * px;
371  double Yg = v0 + circle.p[1] * py;
372 
373  // Find Intersection between line and ellipse in the image.
374 
375  // Optimised calculation for X
376  double stheta = sin(theta);
377  double ctheta = cos(theta);
378  double sctheta = stheta * ctheta;
379  double m11yg = n11 * Yg;
380  double ctheta2 = vpMath::sqr(ctheta);
381  double m02xg = n02 * Xg;
382  double m11stheta = n11 * stheta;
383  j = ((n11 * Xg * sctheta - n20 * Yg * sctheta + n20 * rho * ctheta - m11yg + m11yg * ctheta2 + m02xg -
384  m02xg * ctheta2 + m11stheta * rho) /
385  (n20 * ctheta2 + 2.0 * m11stheta * ctheta + n02 - n02 * ctheta2));
386  // Optimised calculation for Y
387  double rhom02 = rho * n02;
388  double sctheta2 = stheta * ctheta2;
389  double ctheta3 = ctheta2 * ctheta;
390  i = (-(-rho * n11 * stheta * ctheta - rhom02 + rhom02 * ctheta2 + n11 * Xg * sctheta2 - n20 * Yg * sctheta2 -
391  ctheta * n11 * Yg + ctheta3 * n11 * Yg + ctheta * n02 * Xg - ctheta3 * n02 * Xg) /
392  (n20 * ctheta2 + 2.0 * n11 * stheta * ctheta + n02 - n02 * ctheta2) / stheta);
393 }
void init()
Definition: vpCircle.cpp:43
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition: vpCircle.cpp:309
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
error that can be emited by ViSP classes.
Definition: vpException.h:71
virtual ~vpCircle()
Definition: vpCircle.cpp:127
vpColVector cP
Definition: vpTracker.h:77
static void displayEllipse(double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
void projection()
Definition: vpCircle.cpp:140
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
Definition: vpCircle.cpp:245
vpCircle()
Definition: vpCircle.cpp:86
static double sqr(double x)
Definition: vpMath.h:116
static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho, const double &theta, double &i, double &j)
Definition: vpCircle.cpp:358
Generic class defining intrinsic camera parameters.
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
vpCircle * duplicate() const
for memory issue (used by the vpServo class only)
Definition: vpCircle.cpp:335
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:91
vpColVector p
Definition: vpTracker.h:73
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60