Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpFeatureBuilderPointPolar.cpp
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30  *
31  * Description:
32  * Conversion between tracker and visual feature point with
33  * polar coordinates.
34  *
35 *****************************************************************************/
36 
43 #include <visp3/core/vpException.h>
44 #include <visp3/visual_features/vpFeatureBuilder.h>
45 #include <visp3/visual_features/vpFeatureException.h>
46 
47 #ifdef VISP_HAVE_MODULE_BLOB
100 {
101  try {
102  double x = 0, y = 0;
103 
104  vpImagePoint cog;
105  cog = dot.getCog();
106 
107  vpPixelMeterConversion::convertPoint(cam, cog, x, y);
108 
109  double rho = sqrt(x * x + y * y);
110  double theta = atan2(y, x);
111 
112  s.set_rho(rho);
113  s.set_theta(theta);
114  } catch (...) {
115  vpERROR_TRACE("Error caught");
116  throw;
117  }
118 }
119 
172 {
173  try {
174  double x = 0, y = 0;
175 
176  vpImagePoint cog;
177  cog = dot.getCog();
178 
179  vpPixelMeterConversion::convertPoint(cam, cog, x, y);
180 
181  double rho = sqrt(x * x + y * y);
182  double theta = atan2(y, x);
183 
184  s.set_rho(rho);
185  s.set_theta(theta);
186  } catch (...) {
187  vpERROR_TRACE("Error caught");
188  throw;
189  }
190 }
191 #endif //#ifdef VISP_HAVE_MODULE_BLOB
192 
243 {
244  try {
245  double x = 0, y = 0;
246 
248 
249  double rho = sqrt(x * x + y * y);
250  double theta = atan2(y, x);
251 
252  s.set_rho(rho);
253  s.set_theta(theta);
254  } catch (...) {
255  vpERROR_TRACE("Error caught");
256  throw;
257  }
258 }
259 
279 {
280  try {
281 
282  double x = p.get_x();
283  double y = p.get_y();
284 
285  double rho = sqrt(x * x + y * y);
286  double theta = atan2(y, x);
287 
288  s.set_rho(rho);
289  s.set_theta(theta);
290 
291  s.set_Z(p.get_Z());
292 
293  if (s.get_Z() < 0) {
294  vpERROR_TRACE("Point is behind the camera ");
295  std::cout << "Z = " << s.get_Z() << std::endl;
296 
297  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
298  }
299 
300  if (fabs(s.get_Z()) < 1e-6) {
301  vpERROR_TRACE("Point Z coordinates is null ");
302  std::cout << "Z = " << s.get_Z() << std::endl;
303 
304  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
305  }
306 
307  } catch (...) {
308  vpERROR_TRACE("Error caught");
309  throw;
310  }
311 }
312 
347  const vpCameraParameters &wrongCam, const vpPoint &p)
348 {
349  try {
350  double x = p.get_x();
351  double y = p.get_y();
352 
353  s.set_Z(p.get_Z());
354 
355  double u = 0, v = 0;
356  vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
357  vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);
358 
359  double rho = sqrt(x * x + y * y);
360  double theta = atan2(y, x);
361 
362  s.set_rho(rho);
363  s.set_theta(theta);
364  } catch (...) {
365  vpERROR_TRACE("Error caught");
366  throw;
367  }
368 }
369 
370 /*
371  * Local variables:
372  * c-basic-offset: 2
373  * End:
374  */
Generic class defining intrinsic camera parameters.
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:124
vpImagePoint getCog() const
Definition: vpDot2.h:176
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:112
vpImagePoint getCog() const
Definition: vpDot.h:242
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Error that can be emitted by the vpBasicFeature class and its derivates.
@ badInitializationError
Wrong feature initialization.
Class that defines 2D image point visual feature with polar coordinates described in .
void set_theta(double theta)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
double get_y() const
Get the point y coordinate in the image plane.
Definition: vpPoint.cpp:465
double get_x() const
Get the point x coordinate in the image plane.
Definition: vpPoint.cpp:463
double get_Z() const
Get the point cZ coordinate in the camera frame.
Definition: vpPoint.cpp:449
#define vpERROR_TRACE
Definition: vpDebug.h:384