Visual Servoing Platform version 3.6.0
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vpFeatureDisplay.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 * Interface with the image for feature display.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpFeatureDisplay.h>
37
38// Meter/pixel conversion
39#include <visp3/core/vpMeterPixelConversion.h>
40
41// display
42#include <visp3/core/vpDisplay.h>
43
44// Debug trace
45#include <visp3/core/vpDebug.h>
46
47// math
48#include <visp3/core/vpMath.h>
49
50#include <visp3/core/vpImagePoint.h>
51
63void vpFeatureDisplay::displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage<unsigned char> &I,
64 const vpColor &color, unsigned int thickness)
65{
66 vpImagePoint ip; // pixel coordinates in float
68 vpDisplay::displayCross(I, ip, 15, color, thickness);
69}
70
81void vpFeatureDisplay::displayLine(double rho, double theta, const vpCameraParameters &cam,
82 const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness)
83{
84 // x cos(theta) + y sin(theta) - rho = 0
85 double rhop, thetap;
86 vpMeterPixelConversion::convertLine(cam, rho, theta, rhop, thetap);
87
88 // u cos(thetap) + v sin(thetap) - rhop = 0
89 double co = cos(thetap);
90 double si = sin(thetap);
91 double c = -rhop;
92
93 double a = si;
94 double b = co;
95 vpImagePoint ip1, ip2;
96
97 if (fabs(a) < fabs(b)) {
98 ip1.set_ij(0, (-c) / b);
99 double h = I.getHeight() - 1;
100 ip2.set_ij(h, (-c - a * h) / b);
101 vpDisplay::displayLine(I, ip1, ip2, color, thickness);
102 } else {
103 ip1.set_ij((-c) / a, 0);
104 double w = I.getWidth() - 1;
105 ip2.set_ij((-c - b * w) / a, w);
106 vpDisplay::displayLine(I, ip1, ip2, color, thickness);
107 }
108}
109
121void vpFeatureDisplay::displayCylinder(double rho1, double theta1, double rho2, double theta2,
122 const vpCameraParameters &cam, const vpImage<unsigned char> &I,
123 const vpColor &color, unsigned int thickness)
124{
125 displayLine(rho1, theta1, cam, I, color, thickness);
126 displayLine(rho2, theta2, cam, I, color, thickness);
127}
128
146void vpFeatureDisplay::displayEllipse(double x, double y, double n20, double n11, double n02,
147 const vpCameraParameters &cam, const vpImage<unsigned char> &I,
148 const vpColor &color, unsigned int thickness)
149{
150 vpImagePoint center;
151 double n20_p, n11_p, n02_p;
152 vpCircle circle;
153 circle.p[0] = x;
154 circle.p[1] = y;
155 circle.p[2] = n20;
156 circle.p[3] = n11;
157 circle.p[4] = n02;
158
159 vpMeterPixelConversion::convertEllipse(cam, circle, center, n20_p, n11_p, n02_p);
160 vpDisplay::displayEllipse(I, center, n20_p, n11_p, n02_p, true, color, thickness);
161}
162
174void vpFeatureDisplay::displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage<vpRGBa> &I,
175 const vpColor &color, unsigned int thickness)
176{
177 vpImagePoint ip; // pixel coordinates in float
179
180 vpDisplay::displayCross(I, ip, 15, color, thickness);
181}
182
193void vpFeatureDisplay::displayLine(double rho, double theta, const vpCameraParameters &cam, const vpImage<vpRGBa> &I,
194 const vpColor &color, unsigned int thickness)
195{
196 // x cos(theta) + y sin(theta) - rho = 0
197 double rhop, thetap;
198 vpMeterPixelConversion::convertLine(cam, rho, theta, rhop, thetap);
199
200 // u cos(thetap) + v sin(thetap) - rhop = 0
201 double co = cos(thetap);
202 double si = sin(thetap);
203 double c = -rhop;
204
205 double a = si;
206 double b = co;
207 vpImagePoint ip1, ip2;
208
209 if (fabs(a) < fabs(b)) {
210 ip1.set_ij(0, (-c) / b);
211 double h = I.getHeight() - 1;
212 ip2.set_ij(h, (-c - a * h) / b);
213 vpDisplay::displayLine(I, ip1, ip2, color, thickness);
214 } else {
215 ip1.set_ij((-c) / a, 0);
216 double w = I.getWidth() - 1;
217 ip2.set_ij((-c - b * w) / a, w);
218 vpDisplay::displayLine(I, ip1, ip2, color, thickness);
219 }
220}
221
233void vpFeatureDisplay::displayCylinder(double rho1, double theta1, double rho2, double theta2,
234 const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
235 unsigned int thickness)
236{
237 displayLine(rho1, theta1, cam, I, color, thickness);
238 displayLine(rho2, theta2, cam, I, color, thickness);
239}
240
258void vpFeatureDisplay::displayEllipse(double x, double y, double n20, double n11, double n02,
259 const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
260 unsigned int thickness)
261{
262 vpImagePoint center;
263 double n20_p, n11_p, n02_p;
264 vpCircle circle;
265 circle.p[0] = x;
266 circle.p[1] = y;
267 circle.p[2] = n20;
268 circle.p[3] = n11;
269 circle.p[4] = n02;
270
271 vpMeterPixelConversion::convertEllipse(cam, circle, center, n20_p, n11_p, n02_p);
272 vpDisplay::displayEllipse(I, center, n20_p, n11_p, n02_p, true, color, thickness);
273}
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:87
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void displayCylinder(double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayLine(double rho, double theta, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayEllipse(double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_ij(double ii, double jj)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static void convertLine(const vpCameraParameters &cam, const double &rho_m, const double &theta_m, double &rho_p, double &theta_p)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
static void convertEllipse(const vpCameraParameters &cam, const vpSphere &sphere, vpImagePoint &center_p, double &n20_p, double &n11_p, double &n02_p)
vpColVector p
Definition vpTracker.h:68