vpFeatureSegment.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Segment visual feature.
 *
 * Authors:
 * Filip Novotny
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpFeatureSegment_H
#define vpFeatureSegment_H

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeatureException.h>

class VISP_EXPORT vpFeatureSegment : public vpBasicFeature
{
public:
  // empty constructor
  explicit vpFeatureSegment(bool normalized = false);

  virtual ~vpFeatureSegment() {}
  // change values of the segment
  void buildFrom(double x1, double y1, double Z1, double x2, double y2, double Z2);

  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const;
  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const;
  vpFeatureSegment *duplicate() const;
  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);

  inline double getXc() const { return s[0]; }

  inline double getYc() const { return s[1]; }

  inline double getL() const { return s[2]; }

  inline double getAlpha() const { return s[3]; }

  inline double getZ1() const { return Z1_; }

  inline double getZ2() const { return Z2_; }

  // Basic construction.
  void init();

  // compute the interaction matrix from a subset a the possible features
  vpMatrix interaction(unsigned int select = FEATURE_ALL);

  void print(unsigned int select = FEATURE_ALL) const;

  bool isNormalized() { return normalized_; };

  static unsigned int selectXc();
  static unsigned int selectYc();
  static unsigned int selectL();
  static unsigned int selectAlpha();

  void setNormalized(bool normalized) { normalized_ = normalized; };
  inline void setXc(double val)
  {
    s[0] = xc_ = val;
    flags[0] = true;
  }
  inline void setYc(double val)
  {
    s[1] = yc_ = val;
    flags[1] = true;
  }
  inline void setL(double val)
  {
    s[2] = l_ = val;
    flags[2] = true;
  }
  inline void setAlpha(double val)
  {
    s[3] = alpha_ = val;
    cos_a_ = cos(val);
    sin_a_ = sin(val);
    flags[3] = true;
  }

  inline void setZ1(double val)
  {
    Z1_ = val;

    if (Z1_ < 0) {
      vpERROR_TRACE("Point is behind the camera ");
      std::cout << "Z1 = " << Z1_ << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z1 is behind the camera "));
    }

    if (fabs(Z1_) < 1e-6) {
      vpERROR_TRACE("Point Z1 coordinates is null ");
      std::cout << "Z1 = " << Z1_ << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z1 coordinates is null"));
    }

    flags[4] = true;
  }

  inline void setZ2(double val)
  {
    Z2_ = val;

    if (Z2_ < 0) {
      vpERROR_TRACE("Point Z2 is behind the camera ");
      std::cout << "Z2 = " << Z2_ << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z2 is behind the camera "));
    }

    if (fabs(Z2_) < 1e-6) {
      vpERROR_TRACE("Point Z2 coordinates is null ");
      std::cout << "Z2 = " << Z2_ << std::endl;

      throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z2 coordinates is null"));
    }

    flags[5] = true;
  }

private:
  double xc_;
  double yc_;
  double l_;
  double alpha_;
  double Z1_;
  double Z2_;
  double cos_a_;
  double sin_a_;
  bool normalized_;
};

#endif