vpBasicFeature.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 <visp3/visual_features/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)
    };

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

vpBasicFeature::~vpBasicFeature()
{
  if (flags != NULL) {
    delete [] flags;
    flags = NULL;
  }
}

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.stack(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.stack(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:
 */