Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
vpFeatureBuilderSegment.cpp
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30  *
31  * Description:
32  * Segment creation out of dots.
33  *
34  * Authors:
35  * Filip Novotny
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
45 #include <visp3/core/vpMath.h>
46 #include <visp3/visual_features/vpFeatureBuilder.h>
47 
48 #ifdef VISP_HAVE_MODULE_BLOB
49 
60 void vpFeatureBuilder::create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot &d1, const vpDot &d2)
61 {
62  double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
63 
66 
67  double xc = (x1 + x2) / 2.;
68  double yc = (y1 + y2) / 2.;
69  double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
70 
71  if (s.isNormalized()) {
72  s.setXc(xc / l);
73  s.setYc(yc / l);
74  s.setL(1 / l);
75  } else {
76  s.setXc(xc);
77  s.setYc(yc);
78  s.setL(l);
79  }
80 
81  s.setAlpha(atan2(y1 - y2, x1 - x2));
82 }
83 
94 void vpFeatureBuilder::create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot2 &d1, const vpDot2 &d2)
95 {
96  double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
97 
100 
101  double xc = (x1 + x2) / 2.;
102  double yc = (y1 + y2) / 2.;
103  double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
104 
105  if (s.isNormalized()) {
106  s.setXc(xc / l);
107  s.setYc(yc / l);
108  s.setL(1 / l);
109  } else {
110  s.setXc(xc);
111  s.setYc(yc);
112  s.setL(l);
113  }
114 
115  s.setAlpha(atan2(y1 - y2, x1 - x2));
116 }
117 #endif //#ifdef VISP_HAVE_MODULE_BLOB
118 
130  const vpImagePoint &ip2)
131 {
132  double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
133 
134  vpPixelMeterConversion::convertPoint(cam, ip1, x1, y1);
135  vpPixelMeterConversion::convertPoint(cam, ip2, x2, y2);
136 
137  double xc = (x1 + x2) / 2.;
138  double yc = (y1 + y2) / 2.;
139  double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
140 
141  if (s.isNormalized()) {
142  s.setXc(xc / l);
143  s.setYc(yc / l);
144  s.setL(1 / l);
145  } else {
146  s.setXc(xc);
147  s.setYc(yc);
148  s.setL(l);
149  }
150 
151  s.setAlpha(atan2(y1 - y2, x1 - x2));
152 }
153 
165 {
166  double x1 = P1.get_x();
167  double y1 = P1.get_y();
168  double x2 = P2.get_x();
169  double y2 = P2.get_y();
170 
171  double Z1 = P1.cP[2] / P1.cP[3];
172  double Z2 = P2.cP[2] / P2.cP[3];
173 
174  s.buildFrom(x1, y1, Z1, x2, y2, Z2);
175 }
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:127
vpImagePoint getCog() const
Definition: vpDot2.h:180
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
vpImagePoint getCog() const
Definition: vpDot.h:247
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
void buildFrom(double x1, double y1, double Z1, double x2, double y2, double Z2)
void setAlpha(double val)
void setL(double val)
void setXc(double val)
void setYc(double val)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
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:82
double get_y() const
Get the point y coordinate in the image plane.
Definition: vpPoint.cpp:472
double get_x() const
Get the point x coordinate in the image plane.
Definition: vpPoint.cpp:470
vpColVector cP
Definition: vpTracker.h:77