Visual Servoing Platform version 3.5.0
vpFeatureBuilderPointPolar.cpp
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Conversion between tracker and visual feature point with
33 * polar coordinates.
34 *
35 * Authors:
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
46#include <visp3/core/vpException.h>
47#include <visp3/visual_features/vpFeatureBuilder.h>
48#include <visp3/visual_features/vpFeatureException.h>
49
50#ifdef VISP_HAVE_MODULE_BLOB
103{
104 try {
105 double x = 0, y = 0;
106
107 vpImagePoint cog;
108 cog = dot.getCog();
109
111
112 double rho = sqrt(x * x + y * y);
113 double theta = atan2(y, x);
114
115 s.set_rho(rho);
116 s.set_theta(theta);
117 } catch (...) {
118 vpERROR_TRACE("Error caught");
119 throw;
120 }
121}
122
175{
176 try {
177 double x = 0, y = 0;
178
179 vpImagePoint cog;
180 cog = dot.getCog();
181
183
184 double rho = sqrt(x * x + y * y);
185 double theta = atan2(y, x);
186
187 s.set_rho(rho);
188 s.set_theta(theta);
189 } catch (...) {
190 vpERROR_TRACE("Error caught");
191 throw;
192 }
193}
194#endif //#ifdef VISP_HAVE_MODULE_BLOB
195
246{
247 try {
248 double x = 0, y = 0;
249
251
252 double rho = sqrt(x * x + y * y);
253 double theta = atan2(y, x);
254
255 s.set_rho(rho);
256 s.set_theta(theta);
257 } catch (...) {
258 vpERROR_TRACE("Error caught");
259 throw;
260 }
261}
262
282{
283 try {
284
285 double x = p.get_x();
286 double y = p.get_y();
287
288 double rho = sqrt(x * x + y * y);
289 double theta = atan2(y, x);
290
291 s.set_rho(rho);
292 s.set_theta(theta);
293
294 s.set_Z(p.get_Z());
295
296 if (s.get_Z() < 0) {
297 vpERROR_TRACE("Point is behind the camera ");
298 std::cout << "Z = " << s.get_Z() << std::endl;
299
300 throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
301 }
302
303 if (fabs(s.get_Z()) < 1e-6) {
304 vpERROR_TRACE("Point Z coordinates is null ");
305 std::cout << "Z = " << s.get_Z() << std::endl;
306
307 throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
308 }
309
310 } catch (...) {
311 vpERROR_TRACE("Error caught");
312 throw;
313 }
314}
315
350 const vpCameraParameters &wrongCam, const vpPoint &p)
351{
352 try {
353 double x = p.get_x();
354 double y = p.get_y();
355
356 s.set_Z(p.get_Z());
357
358 double u = 0, v = 0;
359 vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
360 vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);
361
362 double rho = sqrt(x * x + y * y);
363 double theta = atan2(y, x);
364
365 s.set_rho(rho);
366 s.set_theta(theta);
367 } catch (...) {
368 vpERROR_TRACE("Error caught");
369 throw;
370 }
371}
372
373/*
374 * Local variables:
375 * c-basic-offset: 2
376 * End:
377 */
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)
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines 2D image point visual feature with polar coordinates described in .
void set_theta(double theta)
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 &x, const double &y, double &u, double &v)
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
double get_Z() const
Get the point cZ coordinate in the camera frame.
Definition: vpPoint.cpp:456
#define vpERROR_TRACE
Definition: vpDebug.h:393