Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
vpFeatureBuilderVanishingPoint.cpp
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30  *
31  * Description:
32  * Conversion between tracker and visual feature vanishing point.
33  *
34  * Authors:
35  * Odile Bourquardez
36  *
37  *****************************************************************************/
38 
44 #include <visp3/core/vpException.h>
45 #include <visp3/visual_features/vpFeatureBuilder.h>
46 #include <visp3/visual_features/vpFeatureException.h>
47 
64 void vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpPoint &p, unsigned int select)
65 {
66  if ((vpFeatureVanishingPoint::selectX() & select) || (vpFeatureVanishingPoint::selectY() & select)) {
67  s.set_x(p.get_x());
68  s.set_y(p.get_y());
69  } else if ((vpFeatureVanishingPoint::selectOneOverRho() & select) ||
71  double x = p.get_x();
72  double y = p.get_y();
73 
74  s.setOneOverRho(1. / sqrt(x * x + y * y));
75  s.setAlpha(atan2(y, x));
76  }
77 }
78 
100  unsigned int select)
101 {
102  if ((vpFeatureVanishingPoint::selectX() & select) || (vpFeatureVanishingPoint::selectY() & select)) {
103  double rho_l = L1.getRho();
104  double rho_r = L2.getRho();
105  double theta_l = L1.getTheta();
106  double theta_r = L2.getTheta();
107  double c_l = cos(theta_l);
108  double c_r = cos(theta_r);
109  double s_l = sin(theta_l);
110  double s_r = sin(theta_r);
111 
112  double min = 0.0001;
113  if (fabs(theta_r - theta_l) < min || fabs(fabs(theta_r - theta_l) - M_PI) < min ||
114  fabs(fabs(theta_r - theta_l) - 2 * M_PI) < min) {
115  vpCERROR << "There is no vanishing point : the lines are parallel in the "
116  "image plane"
117  << std::endl;
119  "There is no vanishing point : the lines are "
120  "parallel in the image plane"));
121  }
122 
123  double y = (rho_r * c_l - rho_l * c_r) / (-s_l * c_r + s_r * c_l);
124  double x = (rho_r * s_l - rho_l * s_r) / (-c_l * s_r + c_r * s_l);
125 
126  s.set_x(x);
127  s.set_y(y);
128  } else if ((vpFeatureVanishingPoint::selectOneOverRho() & select) ||
130  double rho_1 = L1.getRho();
131  double theta_1 = L1.getTheta();
132  double rho_2 = L2.getRho();
133  double theta_2 = L2.getTheta();
134 
135  double theta_diff = theta_1 - theta_2;
136 
137  double denom = sqrt(rho_1 * rho_1 + rho_2 * rho_2 - 2 * rho_1 * rho_2 * cos(theta_diff));
138  double one_over_rho = sin(theta_diff) / denom;
139  double alpha = atan2(rho_1 * cos(theta_2) - rho_2 * cos(theta_1), rho_2 * sin(theta_1) - rho_1 * sin(theta_2));
140 
141  s.setOneOverRho(one_over_rho);
142  s.setAlpha(alpha);
143  }
144 }
145 
167 void vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpLine &L1, const vpLine &L2, unsigned int select)
168 {
169  vpFeatureLine l1, l2;
170  vpFeatureBuilder::create(l1, L1);
171  vpFeatureBuilder::create(l2, L2);
172 
173  vpFeatureBuilder::create(s, l1, l2, select);
174 }
175 
194  const vpImagePoint &line1_ip2, const vpImagePoint &line2_ip1,
195  const vpImagePoint &line2_ip2, unsigned int select)
196 {
197  double x1 = 0, y1 = 0;
198  double x2 = 0, y2 = 0;
199 
200  // First line
201  vpPixelMeterConversion::convertPoint(cam, line1_ip1, x1, y1);
202  vpPixelMeterConversion::convertPoint(cam, line1_ip2, x2, y2);
203 
204  double theta_1 = atan2(-(x1 - x2), y1 - y2);
205  double rho_1 = ((x1 + x2) * cos(theta_1) + (y1 + y2) * sin(theta_1)) / 2.;
206 
207  // Second line
208  vpPixelMeterConversion::convertPoint(cam, line2_ip1, x1, y1);
209  vpPixelMeterConversion::convertPoint(cam, line2_ip2, x2, y2);
210 
211  double theta_2 = atan2(-(x1 - x2), y1 - y2);
212  double rho_2 = ((x1 + x2) * cos(theta_2) + (y1 + y2) * sin(theta_2)) / 2.;
213 
214  if ((vpFeatureVanishingPoint::selectX() & select) || (vpFeatureVanishingPoint::selectY() & select)) {
215  double min = 0.0001;
216  double theta_diff = theta_1 - theta_2;
217 
218  if (fabs(theta_diff) < min || fabs(fabs(theta_diff) - M_PI) < min || fabs(fabs(theta_diff) - 2 * M_PI) < min) {
220  "There is no vanishing point : the lines are parallel in the image plane"));
221  }
222 
223  double x = (sin(theta_1) * rho_2 - sin(theta_2) * rho_1) / sin(theta_diff);
224  double y = (cos(theta_2) * rho_1 - cos(theta_1) * rho_2) / sin(theta_diff);
225 
226  s.set_x(x);
227  s.set_y(y);
228  } else if ((vpFeatureVanishingPoint::selectOneOverRho() & select)) {
229  double theta_diff = theta_1 - theta_2;
230  double denom = sqrt(rho_1 * rho_1 + rho_2 * rho_2 - 2 * rho_1 * rho_2 * cos(theta_diff));
231  double one_over_rho = sin(theta_diff) / denom;
232  // if (one_over_rho < 0) {
233  // one_over_rho = -one_over_rho;
234  // }
235  double alpha = atan2(rho_1 * cos(theta_2) - rho_2 * cos(theta_1), rho_2 * sin(theta_1) - rho_1 * sin(theta_2));
236 
237  s.setOneOverRho(one_over_rho);
238  s.setAlpha(alpha);
239  } else if ((vpFeatureVanishingPoint::selectAtanOneOverRho() & select)) {
240  double theta_diff = theta_1 - theta_2;
241  double denom = sqrt(rho_1 * rho_1 + rho_2 * rho_2 - 2 * rho_1 * rho_2 * cos(theta_diff));
242  double alpha = atan2(rho_1 * cos(theta_2) - rho_2 * cos(theta_1), rho_2 * sin(theta_1) - rho_1 * sin(theta_2));
243  double one_over_rho = sin(theta_diff) / denom;
244  double atan_one_over_rho = atan2(sin(theta_diff), denom);
245 
246  // if (one_over_rho < 0) {
247  // one_over_rho = -one_over_rho;
248  // }
249 
250  s.setOneOverRho(one_over_rho);
251  s.setAtanOneOverRho(atan_one_over_rho);
252  s.setAlpha(alpha);
253  }
254 }
Generic class defining intrinsic camera parameters.
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
double getTheta() const
double getRho() const
static unsigned int selectAtanOneOverRho()
void set_y(double y)
Set vanishing point feature value.
void setAlpha(double alpha)
Set vanishing point feature value.
void setAtanOneOverRho(double atan_one_over_rho)
Set vanishing point feature value.
void setOneOverRho(double one_over_rho)
Set vanishing point feature value.
static unsigned int selectX()
Select visual feature .
static unsigned int selectOneOverRho()
static unsigned int selectAlpha()
static unsigned int selectY()
Select visual feature .
void set_x(double x)
Set vanishing point feature value.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
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
#define vpCERROR
Definition: vpDebug.h:365