vpFeaturePoint.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:
 * 2D point visual feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeaturePoint.h>

// Exception
#include <visp3/core/vpException.h>
#include <visp3/visual_features/vpFeatureException.h>

// Debug trace
#include <visp3/core/vpDebug.h>

// math
#include <visp3/core/vpMath.h>

#include <visp3/core/vpFeatureDisplay.h>



/*

attributes and members directly related to the vpBasicFeature needs
other functionalities ar useful but not mandatory

*/

void
vpFeaturePoint::init()
{
    //feature dimension
    dim_s = 2 ;
    nbParameters = 3;

    // memory allocation
    s.resize(dim_s) ;
    if (flags == NULL)
      flags = new bool[nbParameters];
    for (unsigned int i = 0; i < nbParameters; i++) flags[i] = false;

    //default value Z (1 meters)
    Z = 1;
}

vpFeaturePoint::vpFeaturePoint() : Z(1.)
{
    init() ;
}


void
vpFeaturePoint::set_Z(const double Z_)
{
    this->Z = Z_ ;
    flags[2] = true;
}


double
vpFeaturePoint::get_Z() const
{
    return Z ;
}


void
vpFeaturePoint::set_x(const double x)
{
    s[0] = x ;
    flags[0] = true;
}


double
vpFeaturePoint::get_x() const
{
    return s[0] ;
}


void
vpFeaturePoint::set_y(const double y)
{
    s[1] = y ;
    flags[1] = true;
}


double
vpFeaturePoint::get_y() const
{
    return s[1] ;
}


void
vpFeaturePoint::set_xyZ(const double x_,
      const double y_,
      const double Z_)
{
  set_x(x_) ;
  set_y(y_) ;
  set_Z(Z_) ;
  for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}


vpMatrix
vpFeaturePoint::interaction(const unsigned int select)
{
  vpMatrix L ;

  L.resize(0,6) ;

  if (deallocate == vpBasicFeature::user)
  {
    for (unsigned int i = 0; i < nbParameters; i++)
    {
      if (flags[i] == false)
      {
        switch(i){
        case 0:
          vpTRACE("Warning !!!  The interaction matrix is computed but x was not set yet");
        break;
        case 1:
          vpTRACE("Warning !!!  The interaction matrix is computed but y was not set yet");
        break;
        case 2:
          vpTRACE("Warning !!!  The interaction matrix is computed but Z was not set yet");
        break;
        default:
          vpTRACE("Problem during the reading of the variable flags");
        }
      }
    }
    resetFlags();
  }

  double x_ = get_x() ;
  double y_ = get_y() ;
  double Z_ = get_Z() ;

  if (Z_ < 0)
  {
    vpERROR_TRACE("Point is behind the camera ") ;
    std::cout <<"Z = " << Z_ << std::endl ;

    throw(vpFeatureException(vpFeatureException::badInitializationError,
                 "Point is behind the camera ")) ;
  }

  if (fabs(Z_) < 1e-6)
  {
    vpERROR_TRACE("Point Z coordinates is null ") ;
    std::cout <<"Z = " << Z_ << std::endl ;

    throw(vpFeatureException(vpFeatureException::badInitializationError,
                 "Point Z coordinates is null")) ;
  }

  if (vpFeaturePoint::selectX() & select )
  {
    vpMatrix Lx(1,6) ; Lx = 0;

    Lx[0][0] = -1/Z_  ;
    Lx[0][1] = 0 ;
    Lx[0][2] = x_/Z_ ;
    Lx[0][3] = x_*y_ ;
    Lx[0][4] = -(1+x_*x_) ;
    Lx[0][5] = y_ ;

    L = vpMatrix::stack(L,Lx) ;
  }

  if (vpFeaturePoint::selectY() & select )
  {
    vpMatrix Ly(1,6) ; Ly = 0;

    Ly[0][0] = 0 ;
    Ly[0][1]  = -1/Z_ ;
    Ly[0][2] = y_/Z_ ;
    Ly[0][3] = 1+y_*y_ ;
    Ly[0][4] = -x_*y_ ;
    Ly[0][5] = -x_ ;

    L = vpMatrix::stack(L,Ly) ;
  }
  return L ;
}


vpColVector
vpFeaturePoint::error(const vpBasicFeature &s_star,
              const unsigned int select)
{
  vpColVector e(0) ;

  try{
    if (vpFeaturePoint::selectX() & select )
    {
      vpColVector ex(1) ;
      ex[0] = s[0] - s_star[0] ;

      e = vpColVector::stack(e,ex) ;
    }

    if (vpFeaturePoint::selectY() & select )
    {
      vpColVector ey(1) ;
      ey[0] = s[1] - s_star[1] ;
      e = vpColVector::stack(e,ey) ;
    }
  }
  catch(...) {
    throw ;
  }


  return e ;

}


void
vpFeaturePoint::print(const unsigned int select ) const
{

  std::cout <<"Point:  Z=" << get_Z() ;
  if (vpFeaturePoint::selectX() & select )
    std::cout << " x=" << get_x() ;
  if (vpFeaturePoint::selectY() & select )
    std::cout << " y=" << get_y() ;
  std::cout <<std::endl ;
}


void
vpFeaturePoint::buildFrom(const double x_, const double y_, const double Z_)
{

  s[0] = x_ ;
  s[1] = y_ ;

  this->Z = Z_  ;

  if (Z_ < 0)
  {
    vpERROR_TRACE("Point is behind the camera ") ;
    std::cout <<"Z = " << Z_ << std::endl ;

    throw(vpFeatureException(vpFeatureException::badInitializationError,
                 "Point is behind the camera ")) ;
  }

  if (fabs(Z_) < 1e-6)
  {
    vpERROR_TRACE("Point Z coordinates is null ") ;
    std::cout <<"Z = " << Z_ << std::endl ;

    throw(vpFeatureException(vpFeatureException::badInitializationError,
                 "Point Z coordinates is null")) ;
  }

  for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;

}


void
vpFeaturePoint::display(const vpCameraParameters &cam,
                        const vpImage<unsigned char> &I,
                        const vpColor &color,
                        unsigned int thickness) const
{
  try{
    double x,y ;
    x = get_x() ;
    y = get_y() ;

    vpFeatureDisplay::displayPoint(x, y, cam, I, color, thickness) ;

  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}

void
vpFeaturePoint::display(const vpCameraParameters &cam,
                        const vpImage<vpRGBa> &I,
                        const vpColor &color,
                        unsigned int thickness) const
{
  try{
    double x,y ;
    x = get_x() ;
    y = get_y() ;

    vpFeatureDisplay::displayPoint(x, y, cam, I, color, thickness) ;

  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
}


vpFeaturePoint *vpFeaturePoint::duplicate() const
{
  vpFeaturePoint *feature = new vpFeaturePoint ;
  return feature ;
}

unsigned int vpFeaturePoint::selectX()  { return FEATURE_LINE[0] ; }

unsigned int vpFeaturePoint::selectY()  { return FEATURE_LINE[1] ; }