vpBasicFeature.cpp

/****************************************************************************
 *
 * $Id: vpBasicFeature.cpp 4632 2014-02-03 17:06:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Visual feature.
 *
 * Authors:
 * Eric Marchand
 * Nicolas Mansard
 *
 *****************************************************************************/



#include <visp/vpBasicFeature.h>

const unsigned int vpBasicFeature::FEATURE_LINE [32] =
    {
    (unsigned int)(1 <<  0),    (unsigned int)(1 <<  1),
    (unsigned int)(1 <<  2),    (unsigned int)(1 <<  3),
    (unsigned int)(1 <<  4),    (unsigned int)(1 <<  5),
    (unsigned int)(1 <<  6),    (unsigned int)(1 <<  7),
    (unsigned int)(1 <<  8),    (unsigned int)(1 <<  9),
    (unsigned int)(1 << 10),    (unsigned int)(1 << 11),
    (unsigned int)(1 << 12),    (unsigned int)(1 << 13),
    (unsigned int)(1 << 14),    (unsigned int)(1 << 15),
    (unsigned int)(1 << 16),    (unsigned int)(1 << 17),
    (unsigned int)(1 << 18),    (unsigned int)(1 << 19),
    (unsigned int)(1 << 20),    (unsigned int)(1 << 21),
    (unsigned int)(1 << 22),    (unsigned int)(1 << 23),
    (unsigned int)(1 << 24),    (unsigned int)(1 << 25),
    (unsigned int)(1 << 26),    (unsigned int)(1 << 27),
    (unsigned int)(1 << 28),    (unsigned int)(1 << 29),
    (unsigned int)(1 << 30),    (unsigned int)(1 << 31)
    };
const unsigned int vpBasicFeature::FEATURE_ALL = 0xffff;

vpBasicFeature::vpBasicFeature()
  : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user)
{
}

vpBasicFeature::vpBasicFeature(const vpBasicFeature &f)
  : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user)
{
  *this = f;
}

vpBasicFeature &vpBasicFeature::operator=(const vpBasicFeature &f)
{
  s = f.s;
  dim_s = f.dim_s;
  nbParameters = f.nbParameters;
  deallocate = f.deallocate;
  if (flags)
    delete [] flags;
  flags = new bool [nbParameters];
  for (unsigned int i = 0; i < nbParameters; i++)
    flags[i] = f.flags[i];

  return (*this);
}

unsigned int
vpBasicFeature::getDimension(unsigned int select) const
{
    unsigned int dim = 0 ;
    if(dim_s>31)
        return dim_s;
    for (unsigned int i=0 ; i < s.getRows() ; i++)
    {
    //  printf("%x %x %d \n",select, featureLine[i], featureLine[i] & select);
    if (FEATURE_LINE[i] & select) dim +=1 ;
    }
    return dim ;
}

vpColVector
 vpBasicFeature::get_s(const unsigned int select) const
{
    vpColVector state(0),stateLine(1);
    // if s is higher than the possible selections (photometry), send back the whole vector
    if(dim_s > 31)
        return s;

    for(unsigned int i=0;i<dim_s;++i)
    {
        if(FEATURE_LINE[i] & select)
        {
            stateLine[0] = s[i];
            state.stackMatrices(stateLine);
        }
    }
    return state ;
}

void vpBasicFeature::resetFlags()
{
  if (flags != NULL)
  {
    for (unsigned int i = 0; i < nbParameters; i++)
      flags[i] = false;
  }
}

void vpBasicFeature::setFlags()
{
  if (flags != NULL)
    {
    for (unsigned int i = 0; i < nbParameters; i++)
        flags[i] = true;
    }
}

vpColVector vpBasicFeature::error(const vpBasicFeature &s_star,
        const unsigned int select)
{
    vpColVector e(0),eLine(1);
    if (dim_s <= 31)
    {
        for(unsigned int i=0;i<dim_s;++i){
            if(FEATURE_LINE[i] & select)
            {
                eLine[0] = s[i] - s_star[i];
                e.stackMatrices(eLine);
                //std::cout << "dim_s <= 31"<<std::endl;
            }
        }
    }
    else
    {
        e.resize(dim_s);
        vpColVector sd = s_star.get_s();
        e = s - sd;
    }

   return e ;
}

/*
 * Local variables:
 * c-basic-offset: 4
 * End:
 */