vpFeatureThetaU.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:
 * ThetaU visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/core/vpMath.h>

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

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


/*

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

*/

void
vpFeatureThetaU::init()
{
  //feature dimension
  dim_s = 3 ;
  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;
}

vpFeatureThetaU::vpFeatureThetaU()
  : rotation(vpFeatureThetaU::cdRc)
{
  //vpTRACE("0x%x", this);
  init() ;
}

vpFeatureThetaU::vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r)
  : rotation(r)
{
  //vpTRACE("0x%x", this);
  init() ;

  // kind of rotation representation
  rotation = r;
}

vpFeatureThetaU::vpFeatureThetaU(vpThetaUVector &tu, 
                                 vpFeatureThetaURotationRepresentationType r)
  : rotation(r)
{
  init() ;
  
  buildFrom(tu) ;
}

vpFeatureThetaU::vpFeatureThetaU(vpRotationMatrix &R, 
                                 vpFeatureThetaURotationRepresentationType r)
  : rotation(r)
{
  init() ;
  
  vpThetaUVector tu(R) ;
  buildFrom(tu) ;
}

vpFeatureThetaU::vpFeatureThetaU(vpHomogeneousMatrix &M, 
                                 vpFeatureThetaURotationRepresentationType r)
  : rotation(r)
{
  init() ;
  vpRotationMatrix R ;
  M.extract(R)  ;
  vpThetaUVector tu(R) ;
  buildFrom(tu) ;
}

void
vpFeatureThetaU::buildFrom(vpThetaUVector &tu)
{
  s[0] = tu[0] ;
  s[1] = tu[1] ;
  s[2] = tu[2] ;
  for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}

void
vpFeatureThetaU::buildFrom(const vpRotationMatrix &R)
{
    vpThetaUVector tu(R) ;
    buildFrom(tu) ;
}

void
vpFeatureThetaU::buildFrom(const vpHomogeneousMatrix &M)
{
    vpRotationMatrix R ;
    M.extract(R)  ;
    vpThetaUVector tu(R) ;
    buildFrom(tu) ;
}

void vpFeatureThetaU::setFeatureThetaURotationType(const vpFeatureThetaURotationRepresentationType r)
{
    rotation = r;
}

void vpFeatureThetaU::set_TUx(const double tu_x)
{
    s[0] = tu_x ;
    flags[0] = true;
}
void vpFeatureThetaU::set_TUy(const double tu_y)
{
    s[1] = tu_y ;
    flags[1] = true;
}
void
vpFeatureThetaU::set_TUz(const double tu_z)
{
    s[2] = tu_z ;
    flags[2] = true;
}

vpFeatureThetaU::vpFeatureThetaURotationRepresentationType vpFeatureThetaU::getFeatureThetaURotationType() const
{
  return rotation;
}

double vpFeatureThetaU::get_TUx()  const
{
    return s[0] ;
}

double vpFeatureThetaU::get_TUy()   const
{
    return s[1] ;
}


double
vpFeatureThetaU::get_TUz() const
{
    return  s[2]  ;
}


vpMatrix
vpFeatureThetaU::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 Tu_x was not set yet");
        break;
        case 1:
          vpTRACE("Warning !!!  The interaction matrix is computed but Tu_y was not set yet");
        break;
        case 2:
          vpTRACE("Warning !!!  The interaction matrix is computed but Tu_z was not set yet");
        break;
        default:
          vpTRACE("Problem during the reading of the variable flags");
        }
      }
    }
    resetFlags();
  }

  // Lw computed using Lw = [theta/2 u]_x +/- (I + alpha [u]_x [u]_x)
  vpColVector u(3)  ;
  for (unsigned int i=0 ; i < 3 ; i++) {
    u[i] = s[i]/2.0 ; 
  }
  
  vpMatrix Lw(3,3) ;
  Lw = vpColVector::skew(u) ;  /* [theta/2  u]_x */

  vpMatrix U2(3,3) ;
  U2.eye() ;
  
  double  theta = sqrt(s.sumSquare()) ;
  if (theta >= 1e-6) {
    for (unsigned int i=0 ; i < 3 ; i++) 
      u[i] = s[i]/theta ;

    vpMatrix skew_u ;
    skew_u = vpColVector::skew(u) ; 
    U2 += (1-vpMath::sinc(theta)/vpMath::sqr(vpMath::sinc(theta/2.0)))*skew_u*skew_u ;
  }
 
  if (rotation == cdRc) {
    Lw += U2; 
  }
  else { 
    Lw -=  U2; 
  }

  //This version is a simplification
  if (vpFeatureThetaU::selectTUx() & select )
    {
      vpMatrix Lx(1,6) ;

      Lx[0][0] = 0 ;    Lx[0][1] = 0 ;    Lx[0][2] = 0 ;
      for (int i=0 ; i < 3 ; i++) Lx[0][i+3] = Lw[0][i] ;


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

  if (vpFeatureThetaU::selectTUy() & select )
    {
      vpMatrix Ly(1,6) ;

      Ly[0][0] = 0 ;    Ly[0][1] = 0 ;    Ly[0][2] = 0 ;
      for (int i=0 ; i < 3 ; i++) Ly[0][i+3] = Lw[1][i] ;

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

  if (vpFeatureThetaU::selectTUz() & select )
    {
      vpMatrix Lz(1,6) ;

      Lz[0][0] = 0 ;    Lz[0][1] = 0 ;    Lz[0][2] = 0 ;
      for (int i=0 ; i < 3 ; i++) Lz[0][i+3] = Lw[2][i] ;

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

  return L ;
}

vpColVector
vpFeatureThetaU::error(const vpBasicFeature &s_star,
               const unsigned int select)
{

  if (fabs(s_star.get_s().sumSquare()) > 1e-6)
    {
      vpERROR_TRACE("s* should be zero ! ") ;
      throw(vpFeatureException(vpFeatureException::badInitializationError,
                   "s* should be zero !")) ;
    }

  vpColVector e(0) ;


  if (vpFeatureThetaU::selectTUx() & select )
    {
      vpColVector ex(1) ;
      ex[0] = s[0]  ;
      e = vpColVector::stack(e,ex) ;
    }

  if (vpFeatureThetaU::selectTUy() & select )
    {
      vpColVector ey(1) ;
      ey[0] = s[1] ;
      e = vpColVector::stack(e,ey) ;
    }

  if (vpFeatureThetaU::selectTUz() & select )
    {
      vpColVector ez(1) ;
      ez[0] = s[2] ;
      e = vpColVector::stack(e,ez) ;
    }
  return e ;
}

void
vpFeatureThetaU::print(const unsigned int select) const
{
  std::cout <<"ThetaU: ";
  if (vpFeatureThetaU::selectTUx() & select ) {
    std::cout << s[0] << " ";
  }
  if (vpFeatureThetaU::selectTUy() & select ) {
    std::cout << s[1] << " ";
  }
  if (vpFeatureThetaU::selectTUz() & select ) {
    std::cout << s[2] << " ";
  }
  std::cout << std::endl;
}

vpFeatureThetaU *vpFeatureThetaU::duplicate() const
{
  vpFeatureThetaU *feature;
  if (rotation == cdRc) 
    feature  = new vpFeatureThetaU(vpFeatureThetaU::cdRc) ;
  else //if (rotation == cRcd
    feature  = new vpFeatureThetaU(vpFeatureThetaU::cRcd) ;
    
  return feature ;
}

void
vpFeatureThetaU::display(const vpCameraParameters &/* cam */,
                         const vpImage<unsigned char> &/* I */,
                         const vpColor &/* color */,
                         unsigned int /* thickness */) const
{
  static int firsttime =0 ;

  if (firsttime==0)
  {
    firsttime=1 ;
    vpERROR_TRACE("not implemented") ;
    // Do not throw and error since it is not subject
    // to produce a failure
  } 
}
void
vpFeatureThetaU::display(const vpCameraParameters &/* cam */,
                         const vpImage<vpRGBa> &/* I */,
                         const vpColor &/* color */,
                         unsigned int /* thickness */) const
{
  static int firsttime =0 ;

  if (firsttime==0)
  {
    firsttime=1 ;
    vpERROR_TRACE("not implemented") ;
    // Do not throw and error since it is not subject
    // to produce a failure
  }
}

unsigned int vpFeatureThetaU::selectTUx()  { return FEATURE_LINE[0] ; }
unsigned int vpFeatureThetaU::selectTUy()  { return FEATURE_LINE[1] ; }
unsigned int vpFeatureThetaU::selectTUz()  { return FEATURE_LINE[2] ; }