Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpFeatureBuilderSegment.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Segment creation out of dots.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37*****************************************************************************/
38
44#include <visp3/core/vpMath.h>
45#include <visp3/visual_features/vpFeatureBuilder.h>
46
47#ifdef VISP_HAVE_MODULE_BLOB
48
60{
61 double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
62
65
66 double xc = (x1 + x2) / 2.;
67 double yc = (y1 + y2) / 2.;
68 double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
69
70 if (s.isNormalized()) {
71 s.setXc(xc / l);
72 s.setYc(yc / l);
73 s.setL(1 / l);
74 } else {
75 s.setXc(xc);
76 s.setYc(yc);
77 s.setL(l);
78 }
79
80 s.setAlpha(atan2(y1 - y2, x1 - x2));
81}
82
94{
95 double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
96
99
100 double xc = (x1 + x2) / 2.;
101 double yc = (y1 + y2) / 2.;
102 double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
103
104 if (s.isNormalized()) {
105 s.setXc(xc / l);
106 s.setYc(yc / l);
107 s.setL(1 / l);
108 } else {
109 s.setXc(xc);
110 s.setYc(yc);
111 s.setL(l);
112 }
113
114 s.setAlpha(atan2(y1 - y2, x1 - x2));
115}
116#endif //#ifdef VISP_HAVE_MODULE_BLOB
117
129 const vpImagePoint &ip2)
130{
131 double x1 = 0, y1 = 0, x2 = 0, y2 = 0;
132
133 vpPixelMeterConversion::convertPoint(cam, ip1, x1, y1);
134 vpPixelMeterConversion::convertPoint(cam, ip2, x2, y2);
135
136 double xc = (x1 + x2) / 2.;
137 double yc = (y1 + y2) / 2.;
138 double l = sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
139
140 if (s.isNormalized()) {
141 s.setXc(xc / l);
142 s.setYc(yc / l);
143 s.setL(1 / l);
144 } else {
145 s.setXc(xc);
146 s.setYc(yc);
147 s.setL(l);
148 }
149
150 s.setAlpha(atan2(y1 - y2, x1 - x2));
151}
152
164{
165 double x1 = P1.get_x();
166 double y1 = P1.get_y();
167 double x2 = P2.get_x();
168 double y2 = P2.get_y();
169
170 double Z1 = P1.cP[2] / P1.cP[3];
171 double Z2 = P2.cP[2] / P2.cP[3];
172
173 s.buildFrom(x1, y1, Z1, x2, y2, Z2);
174}
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:177
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:243
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 ...
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:469
double get_x() const
Get the point x coordinate in the image plane.
Definition vpPoint.cpp:467
vpColVector cP
Definition vpTracker.h:72