44 #include <visp/vpBasicFeature.h>
45 #include <visp/vpFeatureSegment.h>
46 #include <visp/vpImagePoint.h>
47 #include <visp/vpMeterPixelConversion.h>
48 #include <visp/vpMath.h>
49 #include <visp/vpDisplay.h>
53 #include <visp/vpException.h>
54 #include <visp/vpMatrixException.h>
57 #include <visp/vpDebug.h>
95 this->normalized_ = normalized;
209 if (
flags[i] ==
false)
213 vpTRACE(
"Warning !!! The interaction matrix is computed but xc was not set yet");
216 vpTRACE(
"Warning !!! The interaction matrix is computed but Yc was not set yet");
219 vpTRACE(
"Warning !!! The interaction matrix is computed but l was not set yet");
222 vpTRACE(
"Warning !!! The interaction matrix is computed but alpha was not set yet");
225 vpTRACE(
"Warning !!! The interaction matrix is computed but Z1 was not set yet");
228 vpTRACE(
"Warning !!! The interaction matrix is computed but Z2 was not set yet");
231 vpTRACE(
"Problem during the reading of the variable flags");
238 double lambda1 = (Z1_-Z2_)/(Z1_*Z2_);
239 double lambda2 = (Z1_+Z2_)/(2*Z1_*Z2_);
247 double lambda = -lambda1 * ln;
248 double Zn_inv = lambda2 * ln;
249 double lc = cos_a_ / ln;
250 double ls = sin_a_ / ln;
251 double xnalpha = xn*cos_a_+yn*sin_a_;
252 double lnc = cos_a_ * ln;
253 double lns = sin_a_ * ln;
257 Lxn[0][0] = -Zn_inv + lambda * xn * cos_a_;
258 Lxn[0][1] = lambda * xn * sin_a_ ;
259 Lxn[0][2] = lambda1 * (xn*xnalpha - cos_a_ /4.);
260 Lxn[0][3] = sin_a_*cos_a_/4/ln - xn*xnalpha*sin_a_/ln;
261 Lxn[0][4] = -ln*(1.+lc*lc/4.) + xn*xnalpha*cos_a_/ln ;
268 Lyn[0][0] = lambda*yn*cos_a_ ;
269 Lyn[0][1] = -Zn_inv + lambda*yn*sin_a_ ;
270 Lyn[0][2] = lambda1 * (yn*xnalpha - sin_a_/4.);
271 Lyn[0][3] = ln*(1+ls*ls/4.)-yn*xnalpha*sin_a_/ln ;
272 Lyn[0][4] = -sin_a_*cos_a_/4/ln + yn*xnalpha*cos_a_/ln;
279 Lln[0][0] = lambda * lnc ;
280 Lln[0][1] = lambda * lns ;
281 Lln[0][2] = -(Zn_inv + lambda*xnalpha);
282 Lln[0][3] = -yn-xnalpha*sin_a_ ;
283 Lln[0][4] = xn + xnalpha*cos_a_ ;
290 Lalpha[0][0] = -lambda1*sin_a_*l_ ;
291 Lalpha[0][1] = lambda1*cos_a_*l_ ;
292 Lalpha[0][2] = lambda1*(xc_*sin_a_-yc_*cos_a_);
293 Lalpha[0][3] = (-xc_*sin_a_*sin_a_+yc_*cos_a_*sin_a_)/l_;
294 Lalpha[0][4] = (xc_*cos_a_*sin_a_ - yc_*cos_a_*cos_a_)/l_ ;
303 Lxc[0][0] = -lambda2 ;
305 Lxc[0][2] = lambda2*xc_ - lambda1*l_*cos_a_/4.;
306 Lxc[0][3] = xc_*yc_ + l_*l_*cos_a_*sin_a_/4. ;
307 Lxc[0][4] = -(1+xc_*xc_+l_*l_*cos_a_*cos_a_/4.) ;
315 Lyc[0][1] = -lambda2 ;
316 Lyc[0][2] = lambda2*yc_ - lambda1*l_*sin_a_/4.;
317 Lyc[0][3] = 1+yc_*yc_+l_*l_*sin_a_*sin_a_/4. ;
318 Lyc[0][4] = -xc_*yc_-l_*l_*cos_a_*sin_a_/4. ;
325 Ll[0][0] = lambda1*cos_a_ ;
326 Ll[0][1] = lambda1*sin_a_ ;
327 Ll[0][2] = lambda2*l_-lambda1*(xc_*cos_a_+yc_*sin_a_);
328 Ll[0][3] = l_*(xc_*cos_a_*sin_a_ + yc_*(1+sin_a_*sin_a_)) ;
329 Ll[0][4] = -l_*(xc_*(1+cos_a_*cos_a_)+yc_*cos_a_*sin_a_) ;
335 Lalpha[0][0] = -lambda1*sin_a_/l_ ;
336 Lalpha[0][1] = lambda1*cos_a_/l_ ;
337 Lalpha[0][2] = lambda1*(xc_*sin_a_-yc_*cos_a_)/l_;
338 Lalpha[0][3] = -xc_*sin_a_*sin_a_+yc_*cos_a_*sin_a_;
339 Lalpha[0][4] = xc_*cos_a_*sin_a_ - yc_*cos_a_*cos_a_ ;
379 exc[0] = xc_-s_star[0];
385 eyc[0] = yc_ - s_star[1];
391 eL[0] = l_ - s_star[2];
397 eAlpha[0] = alpha_ - s_star[3];
398 while (eAlpha[0] < -M_PI) eAlpha[0] += 2*M_PI ;
399 while (eAlpha[0] > M_PI) eAlpha[0] -= 2*M_PI ;
434 std::cout <<
"vpFeatureSegment: (";
437 std::cout <<
"xn = ";
439 std::cout <<
"xc = ";
440 std::cout <<
s[0] <<
"; ";
444 std::cout <<
"yn = ";
446 std::cout <<
"yc = ";
447 std::cout <<
s[1] <<
"; ";
451 std::cout <<
"ln = ";
454 std::cout <<
s[2] <<
"; ";
459 std::cout <<
")" << std::endl;
495 unsigned int thickness )
const
509 double x1 = x - (l/2.)*cos_a_;
510 double x2 = x + (l/2.)*cos_a_;
512 double y1 = y - (l/2.)*sin_a_;
513 double y2 = y + (l/2.)*sin_a_;
537 unsigned int thickness )
const
551 double x1 = x - (l/2.)*cos_a_;
552 double x2 = x + (l/2.)*cos_a_;
554 double y1 = y - (l/2.)*sin_a_;
555 double y2 = y + (l/2.)*sin_a_;
584 const double x2,
const double y2,
const double Z2)
586 double l = sqrt( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
587 double x_c = (x1+x2)/2.;
588 double y_c = (y1+y2)/2.;
589 double alpha = atan2(y1-y2,x1-x2);