Visual Servoing Platform version 3.6.0
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vpPlane.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 * Plane geometrical structure.
33 *
34*****************************************************************************/
35
42#include <visp3/core/vpPlane.h>
43
44#include <cmath> // std::fabs
45#include <limits> // numeric_limits
46
51{
52 A = p.A;
53 B = p.B;
54 C = p.C;
55 D = p.D;
56
57 return *this;
58}
59
63vpPlane::vpPlane() : A(0), B(0), C(0), D(0) {}
64
75vpPlane::vpPlane(double a, double b, double c, double d) : A(a), B(b), C(c), D(d) {}
76
80vpPlane::vpPlane(const vpPlane &P) : A(0), B(0), C(0), D(0)
81{
82 setA(P.getA());
83 setB(P.getB());
84 setC(P.getC());
85 setD(P.getD());
86}
87
107vpPlane::vpPlane(const vpPoint &P, const vpColVector &n, vpPlaneFrame frame) : A(0), B(0), C(0), D(0)
108{
109 // Equation of the plane is given by:
110 A = n[0];
111 B = n[1];
112 C = n[2];
113
114 if (frame == vpPlane::camera_frame)
115 D = -(A * P.get_X() + B * P.get_Y() + C * P.get_Z());
116 else
117 D = -(A * P.get_oX() + B * P.get_oY() + C * P.get_oZ());
118}
119
125void vpPlane::init(const vpPlane &P)
126{
127 setA(P.getA());
128 setB(P.getB());
129 setC(P.getC());
130 setD(P.getD());
131}
132
144void vpPlane::init(const vpColVector &P, const vpColVector &n)
145{
146 // Equation of the plane is given by:
147 A = n[0];
148 B = n[1];
149 C = n[2];
150
151 D = -(A * P[0] + B * P[1] + C * P[2]);
152}
153
165void vpPlane::init(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame)
166{
167 vpColVector a(3);
168 vpColVector b(3);
169 vpColVector n(3);
170 if (frame == vpPlane::camera_frame) {
171 // Calculate vector corresponding to PQ
172 a[0] = P.get_X() - Q.get_X();
173 a[1] = P.get_Y() - Q.get_Y();
174 a[2] = P.get_Z() - Q.get_Z();
175
176 // Calculate vector corresponding to PR
177 b[0] = P.get_X() - R.get_X();
178 b[1] = P.get_Y() - R.get_Y();
179 b[2] = P.get_Z() - R.get_Z();
180 } else {
181 // Calculate vector corresponding to PQ
182 a[0] = P.get_oX() - Q.get_oX();
183 a[1] = P.get_oY() - Q.get_oY();
184 a[2] = P.get_oZ() - Q.get_oZ();
185
186 // Calculate vector corresponding to PR
187 b[0] = P.get_oX() - R.get_oX();
188 b[1] = P.get_oY() - R.get_oY();
189 b[2] = P.get_oZ() - R.get_oZ();
190 }
191 // Calculate normal vector to plane PQ x PR
192 n = vpColVector::cross(a, b);
193
194 // Equation of the plane is given by:
195 A = n[0];
196 B = n[1];
197 C = n[2];
198 if (frame == vpPlane::camera_frame)
199 D = -(A * P.get_X() + B * P.get_Y() + C * P.get_Z());
200 else
201 D = -(A * P.get_oX() + B * P.get_oY() + C * P.get_oZ());
202
203 double norm = sqrt(A * A + B * B + C * C);
204 A /= norm;
205 B /= norm;
206 C /= norm;
207 D /= norm;
208}
209
222vpPlane::vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame) : A(0), B(0), C(0), D(0)
223{
224 init(P, Q, R, frame);
225}
226
232double vpPlane::computeZ(double x, double y) const
233{
234 return -getD() / (getA() * x + getB() * y + getC());
235}
236
246{
247 vpColVector n(3);
248 n[0] = A;
249 n[1] = B;
250 n[2] = C;
251
252 return n;
253}
254
266{
267 n.resize(3);
268 n[0] = A;
269 n[1] = B;
270 n[2] = C;
271}
272
280{
281 double x0, y0, z0;
282 double rho;
283
284 x0 = P.get_X() / P.get_W();
285 y0 = P.get_Y() / P.get_W();
286 z0 = P.get_Z() / P.get_W();
287
288 rho = -(A * x0 + B * y0 + C * z0 + D) / (A * A + B * B + C * C);
289
290 Pproj.set_X(x0 + A * rho);
291 Pproj.set_Y(y0 + B * rho);
292 Pproj.set_Z(z0 + C * rho);
293 Pproj.set_W(1);
294}
295
296double vpPlane::rayIntersection(const vpPoint &M0, const vpPoint &M1, vpColVector &H) const
297{
298
299 double k, scal;
300
301 // if(M0.get_X()!=0 || M0.get_Y()!=0 || M0.get_Z()!=0)
302 if (std::fabs(M0.get_X()) > std::numeric_limits<double>::epsilon() ||
303 std::fabs(M0.get_Y()) > std::numeric_limits<double>::epsilon() ||
304 std::fabs(M0.get_Z()) > std::numeric_limits<double>::epsilon()) {
305 double R[3];
306 R[0] = M1.get_X() - M0.get_X();
307 R[1] = M1.get_Y() - M0.get_Y();
308 R[2] = M1.get_Z() - M0.get_Z();
309
310 scal = getA() * R[0] + getB() * R[1] + getC() * R[2];
311 // if (scal != 0)
312 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
313 k = -(getA() * M0.get_X() + getB() * M0.get_Y() + getC() * M0.get_Z() + getD()) / scal;
314 else
315 k = 0;
316
317 H[0] = M0.get_X() + k * R[0];
318 H[1] = M0.get_Y() + k * R[1];
319 H[2] = M0.get_Z() + k * R[2];
320 } else {
321 scal = getA() * M1.get_X() + getB() * M1.get_Y() + getC() * M1.get_Z();
322 // if (scal != 0)
323 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
324 k = -getD() / scal;
325 else
326 k = 0;
327 H[0] = k * M1.get_X();
328 H[1] = k * M1.get_Y();
329 H[2] = k * M1.get_Z();
330 }
331
332 return k;
333}
334
336{
337
338 double k, scal;
339
340 scal = A * M1[0] + B * M1[1] + C * M1[2];
341 // if (scal != 0)
342 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
343 k = -getD() / scal;
344 else
345 k = 0;
346 H[0] = k * M1[0];
347 H[1] = k * M1[1];
348 H[2] = k * M1[2];
349
350 return k;
351}
352
362{
363 // Save current plane parameters
364 double Ao = A, Bo = B, Co = C, Do = D;
365 A = cMo[0][0] * Ao + cMo[0][1] * Bo + cMo[0][2] * Co;
366 B = cMo[1][0] * Ao + cMo[1][1] * Bo + cMo[1][2] * Co;
367 C = cMo[2][0] * Ao + cMo[2][1] * Bo + cMo[2][2] * Co;
368 D = Do - (cMo[0][3] * A + cMo[1][3] * B + cMo[2][3] * C);
369}
370
377VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpPlane &p)
378{
379 return (os << "(" << p.getA() << "," << p.getB() << "," << p.getC() << "," << p.getD() << ") ");
380};
Implementation of column vector and the associated operations.
static vpColVector cross(const vpColVector &a, const vpColVector &b)
void resize(unsigned int i, bool flagNullify=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
This class defines the container for a plane geometrical structure.
Definition vpPlane.h:54
double C
Definition vpPlane.h:62
vpPlaneFrame
Definition vpPlane.h:65
@ camera_frame
Definition vpPlane.h:65
double rayIntersection(const vpPoint &M0, const vpPoint &M1, vpColVector &H) const
Definition vpPlane.cpp:296
void changeFrame(const vpHomogeneousMatrix &cMo)
Definition vpPlane.cpp:361
void setA(double a)
Definition vpPlane.h:80
void projectionPointOnPlan(const vpPoint &P, vpPoint &Pproj) const
Definition vpPlane.cpp:279
void setD(double d)
Definition vpPlane.h:86
double A
Definition vpPlane.h:62
double D
Definition vpPlane.h:62
double computeZ(double x, double y) const
Definition vpPlane.cpp:232
double getD() const
Definition vpPlane.h:106
void setC(double c)
Definition vpPlane.h:84
double B
Definition vpPlane.h:62
vpColVector getNormal() const
Definition vpPlane.cpp:245
double getA() const
Definition vpPlane.h:100
double getC() const
Definition vpPlane.h:104
double getB() const
Definition vpPlane.h:102
vpPlane & operator=(const vpPlane &f)
Definition vpPlane.cpp:50
vpPlane()
Definition vpPlane.cpp:63
void init(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame=camera_frame)
Definition vpPlane.cpp:165
void setB(double b)
Definition vpPlane.h:82
double getIntersection(const vpColVector &M1, vpColVector &H) const
Definition vpPlane.cpp:335
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
double get_oX() const
Get the point oX coordinate in the object frame.
Definition vpPoint.cpp:458
void set_W(double cW)
Set the point cW coordinate in the camera frame.
Definition vpPoint.cpp:496
double get_Y() const
Get the point cY coordinate in the camera frame.
Definition vpPoint.cpp:451
double get_oZ() const
Get the point oZ coordinate in the object frame.
Definition vpPoint.cpp:462
void set_X(double cX)
Set the point cX coordinate in the camera frame.
Definition vpPoint.cpp:490
double get_W() const
Get the point cW coordinate in the camera frame.
Definition vpPoint.cpp:455
void set_Y(double cY)
Set the point cY coordinate in the camera frame.
Definition vpPoint.cpp:492
double get_Z() const
Get the point cZ coordinate in the camera frame.
Definition vpPoint.cpp:453
void set_Z(double cZ)
Set the point cZ coordinate in the camera frame.
Definition vpPoint.cpp:494
double get_oY() const
Get the point oY coordinate in the object frame.
Definition vpPoint.cpp:460
double get_X() const
Get the point cX coordinate in the camera frame.
Definition vpPoint.cpp:449