Visual Servoing Platform version 3.5.0
vpFeatureBuilderEllipse.cpp
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30 *
31 * Description:
32 * Conversion between tracker and visual feature ellipse.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
45#include <visp3/core/vpMath.h>
46#include <visp3/visual_features/vpFeatureBuilder.h>
47
63{
64 // 3D data
65 double alpha = t.cP[0]; // A
66 double beta = t.cP[1]; // B
67 double gamma = t.cP[2]; // C
68
69 double X0 = t.cP[3];
70 double Y0 = t.cP[4];
71 double Z0 = t.cP[5];
72
73 // equation p 318 prior eq (39)
74 double d = alpha * X0 + beta * Y0 + gamma * Z0;
75
76 double A = alpha / d;
77 double B = beta / d;
78 double C = gamma / d;
79
80 s.setABC(A, B, C);
81
82 // 2D data
83 s.buildFrom(t.p[0], t.p[1], t.p[2], t.p[3], t.p[4]);
84}
85
101{
102 // 3D data
103 double X0 = t.cP[0];
104 double Y0 = t.cP[1];
105 double Z0 = t.cP[2];
106 double R = t.cP[3];
107
108 double d = vpMath::sqr(X0) + vpMath::sqr(Y0) + vpMath::sqr(Z0) - vpMath::sqr(R);
109
110 double A = X0 / d;
111 double B = Y0 / d;
112 double C = Z0 / d;
113
114 s.setABC(A, B, C);
115
116 // 2D data
117 s.buildFrom(t.p[0], t.p[1], t.p[2], t.p[3], t.p[4]);
118}
119
120#ifdef VISP_HAVE_MODULE_BLOB
139{
140 double xc = 0, yc = 0;
141 vpPixelMeterConversion::convertPoint(cam, blob.getCog(), xc, yc);
142 vpColVector nij = blob.get_nij();
143
144 s.buildFrom(xc, yc, nij[0], nij[1], nij[2]);
145}
146
165{
166 double xc = 0, yc = 0;
167 vpPixelMeterConversion::convertPoint(cam, blob.getCog(), xc, yc);
168 vpColVector nij = blob.get_nij();
169
170 s.buildFrom(xc, yc, nij[0], nij[1], nij[2]);
171}
172#endif //#ifdef VISP_HAVE_MODULE_BLOB
173
174#ifdef VISP_HAVE_MODULE_ME
193{
194 double xg, yg, n20, n11, n02;
196 ellipse.get_nij()[0], ellipse.get_nij()[1], ellipse.get_nij()[2],
197 xg, yg, n20, n11, n02);
198
199 s.buildFrom(xg, yg, n20, n11, n02);
200}
201
202#endif //#ifdef VISP_HAVE_MODULE_ME
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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
vpColVector get_nij() const
Definition: vpDot2.h:148
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
vpColVector get_nij() const
Definition: vpDot.h:210
vpImagePoint getCog() const
Definition: vpDot.h:247
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void setABC(double A, double B, double C)
void buildFrom(double x, double y, double n20, double n11, double n02)
static double sqr(double x)
Definition: vpMath.h:116
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:98
vpImagePoint getCenter() const
Definition: vpMeEllipse.h:159
vpColVector get_nij() const
Definition: vpMeEllipse.h:115
static void convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83
vpColVector cP
Definition: vpTracker.h:77
vpColVector p
Definition: vpTracker.h:73