Visual Servoing Platform version 3.5.0
vpFeatureBuilderSegment.cpp
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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 * 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
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
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:88
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