Visual Servoing Platform version 3.5.0
vpFeatureBuilderPoint.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.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#include <visp3/core/vpException.h>
45#include <visp3/visual_features/vpFeatureBuilder.h>
46#include <visp3/visual_features/vpFeatureException.h>
47
48#ifdef VISP_HAVE_MODULE_BLOB
94{
95 try {
96 double x = 0, y = 0;
97
98 vpImagePoint cog;
99 cog = d.getCog();
100
102
103 s.set_x(x);
104 s.set_y(y);
105 } catch (...) {
106 vpERROR_TRACE("Error caught");
107 throw;
108 }
109}
110
154{
155 try {
156 double x = 0, y = 0;
157
158 vpImagePoint cog;
159 cog = d.getCog();
160
162
163 s.set_x(x);
164 s.set_y(y);
165 } catch (...) {
166 vpERROR_TRACE("Error caught");
167 throw;
168 }
169}
170#endif //#ifdef VISP_HAVE_MODULE_BLOB
171
215{
216 try {
217 double x = 0, y = 0;
218
220
221 s.set_x(x);
222 s.set_y(y);
223 } catch (...) {
224 vpERROR_TRACE("Error caught");
225 throw;
226 }
227}
228
244{
245 try {
246 s.set_x(p.get_x());
247 s.set_y(p.get_y());
248
249 s.set_Z(p.cP[2] / p.cP[3]);
250
251 if (s.get_Z() < 0) {
252 vpERROR_TRACE("Point is behind the camera ");
253 std::cout << "Z = " << s.get_Z() << std::endl;
254
255 throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
256 }
257
258 if (fabs(s.get_Z()) < 1e-6) {
259 vpERROR_TRACE("Point Z coordinates is null ");
260 std::cout << "Z = " << s.get_Z() << std::endl;
261
262 throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
263 }
264
265 } catch (...) {
266 vpERROR_TRACE("Error caught");
267 throw;
268 }
269}
270
303 const vpPoint &p)
304{
305 try {
306 double x = p.p[0];
307 double y = p.p[1];
308
309 s.set_Z(p.cP[2] / p.cP[3]);
310
311 double u = 0, v = 0;
312 vpMeterPixelConversion::convertPoint(goodCam, x, y, u, v);
313 vpPixelMeterConversion::convertPoint(wrongCam, u, v, x, y);
314
315 s.set_x(x);
316 s.set_y(y);
317 } catch (...) {
318 vpERROR_TRACE("Error caught");
319 throw;
320 }
321}
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
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
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 point visual feature which is composed by two parameters that are the cartes...
void set_y(double y)
void set_x(double x)
double get_Z() const
void set_Z(double Z)
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
vpColVector cP
Definition: vpTracker.h:77
vpColVector p
Definition: vpTracker.h:73
#define vpERROR_TRACE
Definition: vpDebug.h:393