vpFeatureMomentAlpha.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Implementation for alpha moment features.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/visual_features/vpFeatureMomentAlpha.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/visual_features/vpFeatureMomentCentered.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>

#include <vector>
#include <limits>

#ifdef VISP_MOMENTS_COMBINE_MATRICES

void vpFeatureMomentAlpha::compute_interaction(){
    bool found_moment_centered;
    bool found_FeatureMoment_centered;

    const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
    vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));

    if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
    if(!found_FeatureMoment_centered) throw vpException(vpException::notInitialized,"vpFeatureMomentCentered not found");

    double multiplier = -1./(momentCentered.get(2,0)*momentCentered.get(2,0)-2*momentCentered.get(0,2)*momentCentered.get(2,0)+4*momentCentered.get(1,1)*momentCentered.get(1,1)+momentCentered.get(0,2)*momentCentered.get(0,2));

    interaction_matrices[0].resize(1,6);
    interaction_matrices[0] = multiplier*(momentCentered.get(1,1)*featureMomentCentered.interaction(2,0)+(momentCentered.get(0,2)-momentCentered.get(2,0))*featureMomentCentered.interaction(1,1)-momentCentered.get(1,1)*featureMomentCentered.interaction(0,2));
}

#else

void vpFeatureMomentAlpha::compute_interaction(){
    bool found_moment_centered;
    bool found_moment_gravity;

    const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
    const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
    const vpMomentObject& momentObject = moment->getObject();


    if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
    if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");

    double mu11 = momentCentered.get(1,1);
    double mu20 = momentCentered.get(2,0);
    double mu02 = momentCentered.get(0,2);
    double mu12 = momentCentered.get(1,2);
    double mu21 = momentCentered.get(2,1);
    double mu03 = momentCentered.get(0,3);
    double mu30 = momentCentered.get(3,0);

    double Xg = momentGravity.getXg();
    double Yg = momentGravity.getYg();

    double Avx,Avy,Avz,Awx,Awy;
    double beta,gamma;

    if (momentObject.getType()==vpMomentObject::DISCRETE){
        beta = 4;
        gamma = 2;
    } else {
        beta = 5;
        gamma = 1;
    }

    double d = (mu20-mu02)*(mu20-mu02) + 4 * mu11*mu11;
    double DA = mu20+mu02;
    double DA_2 = DA*DA;
    double mu11_2 = mu11*mu11;

    Avx = mu11*DA*A/d+(DA*mu02+(0.5)*d-(0.5)*DA_2)*B/d;
    Avy = (DA*mu02-(0.5)*d-(.5)*DA_2)*A/d-B*mu11*DA/d;

    Awx = (beta*(mu12*(mu20-mu02)+mu11*(mu03-mu21))+gamma*Xg*(mu02*(mu20-mu02)-2*mu11_2)+gamma*Yg*mu11*(mu20+mu02))/d;
    Awy = (beta*(mu21*(mu02-mu20)+mu11*(mu30-mu12))+gamma*Xg*mu11*(mu20+mu02)+gamma*Yg*(mu20*(mu02-mu20)-2*mu11_2))/d;

    Avz = B*Awx-A*Awy;
    interaction_matrices.resize(1);
    interaction_matrices[0].resize(1,6);

    int VX = 0;
    int VY = 1;
    int VZ = 2;
    int WX = 3;
    int WY = 4;
    int WZ = 5;

    interaction_matrices[0][0][VX] = Avx;
    interaction_matrices[0][0][VY] = Avy;
    interaction_matrices[0][0][VZ] = Avz;

    interaction_matrices[0][0][WX] = Awx;
    interaction_matrices[0][0][WY] = Awy;
    interaction_matrices[0][0][WZ] = -1.;
}

vpColVector vpFeatureMomentAlpha::error (const vpBasicFeature &s_star, const unsigned int /* select */){
  vpColVector e(0) ;
  double err = s[0] - s_star[0] ;

  if (err < -M_PI) err += 2*M_PI ;
  if (err > M_PI) err -= 2*M_PI ;

  vpColVector ecv(1) ;
  ecv[0] = err ;
  e = vpColVector::stack(e,ecv) ;

  return e;
}
#endif