vpFeatureTranslation.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:
 * 3D translation visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeatureTranslation.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
vpFeatureTranslation::init()
{
  //feature dimension
  dim_s = 3 ;
  nbParameters = 1;

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

}

vpFeatureTranslation::vpFeatureTranslation()
  : f2Mf1(), translation(vpFeatureTranslation::cdMc)
{
  init() ;
}


vpFeatureTranslation::vpFeatureTranslation(vpFeatureTranslationRepresentationType r)
  : f2Mf1(), translation(r)
{
  init() ;
}


vpFeatureTranslation::vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1_, vpFeatureTranslationRepresentationType r)
  : f2Mf1(), translation(r)
{
  init() ;

  buildFrom(f2Mf1_) ;
}

void
vpFeatureTranslation::buildFrom(const vpHomogeneousMatrix &f2Mf1_)
{
  this->f2Mf1 = f2Mf1_ ;
  s[0] = f2Mf1[0][3] ;
  s[1] = f2Mf1[1][3] ;
  s[2] = f2Mf1[2][3] ;

  flags[0] = true;
}

void vpFeatureTranslation::setFeatureTranslationType(const vpFeatureTranslationRepresentationType r)
{
    translation = r;
}

void vpFeatureTranslation::set_Tx(const double t_x)
{
    s[0] = t_x ;
}
void vpFeatureTranslation::set_Ty(const double t_y)
{
    s[1] = t_y ;
}
void
vpFeatureTranslation::set_Tz(const double t_z)
{
    s[2] = t_z ;
}


vpFeatureTranslation::vpFeatureTranslationRepresentationType vpFeatureTranslation::getFeatureTranslationType()  const
{
  return translation ;
}

double vpFeatureTranslation::get_Tx()  const
{
  return s[0] ;
}


double vpFeatureTranslation::get_Ty()   const
{
  return s[1] ;
}


double
vpFeatureTranslation::get_Tz() const
{
  return  s[2]  ;
}


vpMatrix
vpFeatureTranslation::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 f2Mf1 was not set yet");
        break;
        default:
          vpTRACE("Problem during the reading of the variable flags");
        }
      }
    }
    resetFlags();
  }

  if (translation == cdMc) {
    //This version is a simplification
    if (vpFeatureTranslation::selectTx() & select ) {
      vpMatrix Lx(1,6) ;

      for (int i=0 ; i < 3 ; i++)
    Lx[0][i] = f2Mf1[0][i] ;
      Lx[0][3] = 0 ;    Lx[0][4] = 0 ;    Lx[0][5] = 0 ;

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

    if (vpFeatureTranslation::selectTy() & select ) {
      vpMatrix Ly(1,6) ;

      for (int i=0 ; i < 3 ; i++)
    Ly[0][i] = f2Mf1[1][i] ;
      Ly[0][3] = 0 ;    Ly[0][4] = 0 ;    Ly[0][5] = 0 ;

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

    if (vpFeatureTranslation::selectTz() & select ) {
      vpMatrix Lz(1,6) ;

      for (int i=0 ; i < 3 ; i++)
    Lz[0][i] = f2Mf1[2][i] ;
      Lz[0][3] = 0 ;    Lz[0][4] = 0 ;    Lz[0][5] = 0 ;

      L = vpMatrix::stack(L,Lz) ;
    }
  }
  if (translation == cMcd) {
    //This version is a simplification
    if (vpFeatureTranslation::selectTx() & select ) {
      vpMatrix Lx(1,6) ;
      Lx[0][0] = -1 ;    Lx[0][1] = 0 ;    Lx[0][2] = 0 ;
      Lx[0][3] = 0 ;    Lx[0][4] = -s[2] ;    Lx[0][5] = s[1] ;

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

    if (vpFeatureTranslation::selectTy() & select ) {
      vpMatrix Ly(1,6) ;
      Ly[0][0] = 0 ;    Ly[0][1] = -1 ;    Ly[0][2] = 0 ;
      Ly[0][3] = s[2] ;    Ly[0][4] = 0 ;    Ly[0][5] = -s[0] ;

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

    if (vpFeatureTranslation::selectTz() & select ) {
      vpMatrix Lz(1,6) ;
      Lz[0][0] = 0 ;    Lz[0][1] = 0 ;    Lz[0][2] = -1 ;
      Lz[0][3] = -s[1] ;    Lz[0][4] = s[0] ;    Lz[0][5] = 0 ;

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

  if (translation == cMo) {
    //This version is a simplification
    if (vpFeatureTranslation::selectTx() & select ) {
      vpMatrix Lx(1,6) ;
      Lx[0][0] = -1 ;    Lx[0][1] = 0 ;    Lx[0][2] = 0 ;
      Lx[0][3] = 0 ;    Lx[0][4] = -s[2] ;    Lx[0][5] = s[1] ;

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

    if (vpFeatureTranslation::selectTy() & select ) {
      vpMatrix Ly(1,6) ;
      Ly[0][0] = 0 ;    Ly[0][1] = -1 ;    Ly[0][2] = 0 ;
      Ly[0][3] = s[2] ;    Ly[0][4] = 0 ;    Ly[0][5] = -s[0] ;

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

    if (vpFeatureTranslation::selectTz() & select ) {
      vpMatrix Lz(1,6) ;
      Lz[0][0] = 0 ;    Lz[0][1] = 0 ;    Lz[0][2] = -1 ;
      Lz[0][3] = -s[1] ;    Lz[0][4] = s[0] ;    Lz[0][5] = 0 ;

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

  return L ;
}

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

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


  if (vpFeatureTranslation::selectTx() & select )
    {
      vpColVector ex(1) ;
      ex[0] = s[0]-s_star[0]  ;
      e = vpColVector::stack(e,ex) ;
    }

  if (vpFeatureTranslation::selectTy() & select )
    {
      vpColVector ey(1) ;
      ey[0] = s[1]-s_star[1] ;
      e = vpColVector::stack(e,ey) ;
    }

  if (vpFeatureTranslation::selectTz() & select )
    {
      vpColVector ez(1) ;
      ez[0] = s[2]-s_star[2] ;
      e = vpColVector::stack(e,ez) ;
    }

  return e ;
}

void
vpFeatureTranslation::print(const unsigned int select) const
{
  std::cout <<"Translation 3D: ";
  if (vpFeatureTranslation::selectTx() & select ) {
    std::cout << s[0] << " ";
  }
  if (vpFeatureTranslation::selectTy() & select ) {
    std::cout << s[1] << " ";
  }
  if (vpFeatureTranslation::selectTz() & select ) {
    std::cout << s[2] << " ";
  }
  std::cout << std::endl;
}


vpFeatureTranslation *vpFeatureTranslation::duplicate() const
{
  vpFeatureTranslation *feature = NULL;
  if (translation == cdMc)
    feature = new vpFeatureTranslation(cdMc) ;
  if (translation == cMo)
    feature = new vpFeatureTranslation(cMo) ;
  if (translation == cMcd)
    feature = new vpFeatureTranslation(cMcd) ;
  return feature ;
}


void
vpFeatureTranslation::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
vpFeatureTranslation::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 vpFeatureTranslation::selectTx()  { return FEATURE_LINE[0] ; }

unsigned int vpFeatureTranslation::selectTy()  { return FEATURE_LINE[1] ; }

unsigned int vpFeatureTranslation::selectTz()  { return FEATURE_LINE[2] ; }