Visual Servoing Platform  version 3.6.1 under development (2024-04-22)
vpFeatureBuilderPoint.cpp
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30  *
31  * Description:
32  * Conversion between tracker and visual feature point.
33  *
34 *****************************************************************************/
35 
41 #include <visp3/core/vpException.h>
42 #include <visp3/visual_features/vpFeatureBuilder.h>
43 #include <visp3/visual_features/vpFeatureException.h>
44 
45 #ifdef VISP_HAVE_MODULE_BLOB
91 {
92  try {
93  double x = 0, y = 0;
94 
95  vpImagePoint cog;
96  cog = d.getCog();
97 
99 
100  s.set_x(x);
101  s.set_y(y);
102  } catch (...) {
103  vpERROR_TRACE("Error caught");
104  throw;
105  }
106 }
107 
151 {
152  try {
153  double x = 0, y = 0;
154 
155  vpImagePoint cog;
156  cog = d.getCog();
157 
158  vpPixelMeterConversion::convertPoint(cam, cog, x, y);
159 
160  s.set_x(x);
161  s.set_y(y);
162  } catch (...) {
163  vpERROR_TRACE("Error caught");
164  throw;
165  }
166 }
167 #endif //#ifdef VISP_HAVE_MODULE_BLOB
168 
212 {
213  try {
214  double x = 0, y = 0;
215 
217 
218  s.set_x(x);
219  s.set_y(y);
220  } catch (...) {
221  vpERROR_TRACE("Error caught");
222  throw;
223  }
224 }
225 
241 {
242  try {
243  s.set_x(p.get_x());
244  s.set_y(p.get_y());
245 
246  s.set_Z(p.cP[2] / p.cP[3]);
247 
248  if (s.get_Z() < 0) {
249  vpERROR_TRACE("Point is behind the camera ");
250  std::cout << "Z = " << s.get_Z() << std::endl;
251 
252  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
253  }
254 
255  if (fabs(s.get_Z()) < 1e-6) {
256  vpERROR_TRACE("Point Z coordinates is null ");
257  std::cout << "Z = " << s.get_Z() << std::endl;
258 
259  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
260  }
261 
262  } catch (...) {
263  vpERROR_TRACE("Error caught");
264  throw;
265  }
266 }
267 
300  const vpPoint &p)
301 {
302  try {
303  double x = p.p[0];
304  double y = p.p[1];
305 
306  s.set_Z(p.cP[2] / p.cP[3]);
307 
308  double u = 0, v = 0;
309  vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
310  vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);
311 
312  s.set_x(x);
313  s.set_y(y);
314  } catch (...) {
315  vpERROR_TRACE("Error caught");
316  throw;
317  }
318 }
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
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:112
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 a 2D point visual feature which is composed by two parameters that are the cartes...
void set_y(double y)
void set_x(double x)
double get_Z() const
void set_Z(double Z)
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
vpColVector cP
Definition: vpTracker.h:71
vpColVector p
Definition: vpTracker.h:67
#define vpERROR_TRACE
Definition: vpDebug.h:382