vpFeaturePoint3D.cpp

/****************************************************************************
 *
 * 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:
 * 3D point visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/
 
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/visual_features/vpFeaturePoint3D.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 vpFeaturePoint3D::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;
 
  // default value XYZ
  s[0] = 0;
  s[1] = 0;
  s[2] = 1;
}
 
vpFeaturePoint3D::vpFeaturePoint3D() { init(); }
 
void vpFeaturePoint3D::set_X(double X)
{
  s[0] = X;
  flags[0] = true;
}
 
void vpFeaturePoint3D::set_Y(double Y)
{
  s[1] = Y;
  flags[1] = true;
}
 
void vpFeaturePoint3D::set_Z(double Z)
{
  s[2] = Z;
  flags[2] = true;
}
 
void vpFeaturePoint3D::set_XYZ(double X, double Y, double Z)
{
  set_X(X);
  set_Y(Y);
  set_Z(Z);
 
  for (unsigned int i = 0; i < nbParameters; i++)
    flags[i] = true;
}
 
double vpFeaturePoint3D::get_X() const { return s[0]; }
 
double vpFeaturePoint3D::get_Y() const { return s[1]; }
 
double vpFeaturePoint3D::get_Z() const { return s[2]; }
 
vpMatrix vpFeaturePoint3D::interaction(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 (vpFeaturePoint3D::selectX() & select) {
    vpMatrix Lx(1, 6);
    Lx = 0;
 
    Lx[0][0] = -1;
    Lx[0][1] = 0;
    Lx[0][2] = 0;
    Lx[0][3] = 0;
    Lx[0][4] = -Z;
    Lx[0][5] = Y;
 
    L = vpMatrix::stack(L, Lx);
  }
 
  if (vpFeaturePoint3D::selectY() & select) {
    vpMatrix Ly(1, 6);
    Ly = 0;
 
    Ly[0][0] = 0;
    Ly[0][1] = -1;
    Ly[0][2] = 0;
    Ly[0][3] = Z;
    Ly[0][4] = 0;
    Ly[0][5] = -X;
 
    L = vpMatrix::stack(L, Ly);
  }
  if (vpFeaturePoint3D::selectZ() & select) {
    vpMatrix Lz(1, 6);
    Lz = 0;
 
    Lz[0][0] = 0;
    Lz[0][1] = 0;
    Lz[0][2] = -1;
    Lz[0][3] = -Y;
    Lz[0][4] = X;
    Lz[0][5] = 0;
 
    L = vpMatrix::stack(L, Lz);
  }
  return L;
}
 
vpColVector vpFeaturePoint3D::error(const vpBasicFeature &s_star, unsigned int select)
{
  vpColVector e(0);
 
  try {
    if (vpFeaturePoint3D::selectX() & select) {
      vpColVector ex(1);
      ex[0] = s[0] - s_star[0];
 
      e = vpColVector::stack(e, ex);
    }
 
    if (vpFeaturePoint3D::selectY() & select) {
      vpColVector ey(1);
      ey[0] = s[1] - s_star[1];
      e = vpColVector::stack(e, ey);
    }
 
    if (vpFeaturePoint3D::selectZ() & select) {
      vpColVector ez(1);
      ez[0] = s[2] - s_star[2];
      e = vpColVector::stack(e, ez);
    }
  } catch (...) {
    throw;
  }
 
  return e;
}
 
void vpFeaturePoint3D::buildFrom(const vpPoint &p)
{
 
  // cP is expressed in homogeneous coordinates
  // we devide by the fourth coordinate
  s[0] = p.cP[0] / p.cP[3];
  s[1] = p.cP[1] / p.cP[3];
  s[2] = p.cP[2] / p.cP[3];
 
  double Z = s[2];
  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 vpFeaturePoint3D::buildFrom(double X, double Y, double Z)
{
 
  s[0] = X;
  s[1] = Y;
  s[2] = 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 vpFeaturePoint3D::print(unsigned int select) const
{
 
  std::cout << "Point3D:  ";
  if (vpFeaturePoint3D::selectX() & select)
    std::cout << " X=" << get_X();
  if (vpFeaturePoint3D::selectY() & select)
    std::cout << " Y=" << get_Y();
  if (vpFeaturePoint3D::selectZ() & select)
    std::cout << " Z=" << get_Z();
  std::cout << std::endl;
}
 
vpFeaturePoint3D *vpFeaturePoint3D::duplicate() const
{
  vpFeaturePoint3D *feature = new vpFeaturePoint3D;
  return feature;
}
 
void vpFeaturePoint3D::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 vpFeaturePoint3D::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 vpFeaturePoint3D::selectX() { return FEATURE_LINE[0]; }
 
unsigned int vpFeaturePoint3D::selectY() { return FEATURE_LINE[1]; }
 
unsigned int vpFeaturePoint3D::selectZ() { return FEATURE_LINE[2]; }