Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpFeaturePoint.cpp
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30  *
31  * Description:
32  * 2D point visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
44 #include <visp3/visual_features/vpBasicFeature.h>
45 #include <visp3/visual_features/vpFeaturePoint.h>
46 
47 // Exception
48 #include <visp3/core/vpException.h>
49 #include <visp3/visual_features/vpFeatureException.h>
50 
51 // Debug trace
52 #include <visp3/core/vpDebug.h>
53 
54 // math
55 #include <visp3/core/vpMath.h>
56 
57 #include <visp3/core/vpFeatureDisplay.h>
58 
59 /*
60 
61 attributes and members directly related to the vpBasicFeature needs
62 other functionalities ar useful but not mandatory
63 
64 */
65 
70 {
71  // feature dimension
72  dim_s = 2;
73  nbParameters = 3;
74 
75  // memory allocation
76  s.resize(dim_s);
77  if (flags == NULL)
78  flags = new bool[nbParameters];
79  for (unsigned int i = 0; i < nbParameters; i++)
80  flags[i] = false;
81 
82  // default value Z (1 meters)
83  Z = 1;
84 }
85 
90 
97 void vpFeaturePoint::set_Z(const double Z_)
98 {
99  this->Z = Z_;
100  flags[2] = true;
101 }
102 
109 double vpFeaturePoint::get_Z() const { return Z; }
110 
118 void vpFeaturePoint::set_x(const double x)
119 {
120  s[0] = x;
121  flags[0] = true;
122 }
123 
130 double vpFeaturePoint::get_x() const { return s[0]; }
131 
138 void vpFeaturePoint::set_y(const double y)
139 {
140  s[1] = y;
141  flags[1] = true;
142 }
143 
150 double vpFeaturePoint::get_y() const { return s[1]; }
151 
163 void vpFeaturePoint::set_xyZ(const double x_, const double y_, const double Z_)
164 {
165  set_x(x_);
166  set_y(y_);
167  set_Z(Z_);
168  for (unsigned int i = 0; i < nbParameters; i++)
169  flags[i] = true;
170 }
171 
215 vpMatrix vpFeaturePoint::interaction(const unsigned int select)
216 {
217  vpMatrix L;
218 
219  L.resize(0, 6);
220 
222  for (unsigned int i = 0; i < nbParameters; i++) {
223  if (flags[i] == false) {
224  switch (i) {
225  case 0:
226  vpTRACE("Warning !!! The interaction matrix is computed but x was "
227  "not set yet");
228  break;
229  case 1:
230  vpTRACE("Warning !!! The interaction matrix is computed but y was "
231  "not set yet");
232  break;
233  case 2:
234  vpTRACE("Warning !!! The interaction matrix is computed but Z was "
235  "not set yet");
236  break;
237  default:
238  vpTRACE("Problem during the reading of the variable flags");
239  }
240  }
241  }
242  resetFlags();
243  }
244 
245  double x_ = get_x();
246  double y_ = get_y();
247  double Z_ = get_Z();
248 
249  if (Z_ < 0) {
250  vpERROR_TRACE("Point is behind the camera ");
251  std::cout << "Z = " << Z_ << std::endl;
252 
253  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
254  }
255 
256  if (fabs(Z_) < 1e-6) {
257  vpERROR_TRACE("Point Z coordinates is null ");
258  std::cout << "Z = " << Z_ << std::endl;
259 
260  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
261  }
262 
263  if (vpFeaturePoint::selectX() & select) {
264  vpMatrix Lx(1, 6);
265  Lx = 0;
266 
267  Lx[0][0] = -1 / Z_;
268  Lx[0][1] = 0;
269  Lx[0][2] = x_ / Z_;
270  Lx[0][3] = x_ * y_;
271  Lx[0][4] = -(1 + x_ * x_);
272  Lx[0][5] = y_;
273 
274  L = vpMatrix::stack(L, Lx);
275  }
276 
277  if (vpFeaturePoint::selectY() & select) {
278  vpMatrix Ly(1, 6);
279  Ly = 0;
280 
281  Ly[0][0] = 0;
282  Ly[0][1] = -1 / Z_;
283  Ly[0][2] = y_ / Z_;
284  Ly[0][3] = 1 + y_ * y_;
285  Ly[0][4] = -x_ * y_;
286  Ly[0][5] = -x_;
287 
288  L = vpMatrix::stack(L, Ly);
289  }
290  return L;
291 }
292 
329 vpColVector vpFeaturePoint::error(const vpBasicFeature &s_star, const unsigned int select)
330 {
331  vpColVector e(0);
332 
333  try {
334  if (vpFeaturePoint::selectX() & select) {
335  vpColVector ex(1);
336  ex[0] = s[0] - s_star[0];
337 
338  e = vpColVector::stack(e, ex);
339  }
340 
341  if (vpFeaturePoint::selectY() & select) {
342  vpColVector ey(1);
343  ey[0] = s[1] - s_star[1];
344  e = vpColVector::stack(e, ey);
345  }
346  } catch (...) {
347  throw;
348  }
349 
350  return e;
351 }
352 
372 void vpFeaturePoint::print(const unsigned int select) const
373 {
374 
375  std::cout << "Point: Z=" << get_Z();
376  if (vpFeaturePoint::selectX() & select)
377  std::cout << " x=" << get_x();
378  if (vpFeaturePoint::selectY() & select)
379  std::cout << " y=" << get_y();
380  std::cout << std::endl;
381 }
382 
395 void vpFeaturePoint::buildFrom(const double x_, const double y_, const double Z_)
396 {
397 
398  s[0] = x_;
399  s[1] = y_;
400 
401  this->Z = Z_;
402 
403  if (Z_ < 0) {
404  vpERROR_TRACE("Point is behind the camera ");
405  std::cout << "Z = " << Z_ << std::endl;
406 
407  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point is behind the camera "));
408  }
409 
410  if (fabs(Z_) < 1e-6) {
411  vpERROR_TRACE("Point Z coordinates is null ");
412  std::cout << "Z = " << Z_ << std::endl;
413 
414  throw(vpFeatureException(vpFeatureException::badInitializationError, "Point Z coordinates is null"));
415  }
416 
417  for (unsigned int i = 0; i < nbParameters; i++)
418  flags[i] = true;
419 }
420 
432  unsigned int thickness) const
433 {
434  try {
435  double x, y;
436  x = get_x();
437  y = get_y();
438 
439  vpFeatureDisplay::displayPoint(x, y, cam, I, color, thickness);
440 
441  } catch (...) {
442  vpERROR_TRACE("Error caught");
443  throw;
444  }
445 }
446 
457 void vpFeaturePoint::display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
458  unsigned int thickness) const
459 {
460  try {
461  double x, y;
462  x = get_x();
463  y = get_y();
464 
465  vpFeatureDisplay::displayPoint(x, y, cam, I, color, thickness);
466 
467  } catch (...) {
468  vpERROR_TRACE("Error caught");
469  throw;
470  }
471 }
472 
484 {
485  vpFeaturePoint *feature = new vpFeaturePoint;
486  return feature;
487 }
488 
507 unsigned int vpFeaturePoint::selectX() { return FEATURE_LINE[0]; }
508 
527 unsigned int vpFeaturePoint::selectY() { return FEATURE_LINE[1]; }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void set_xyZ(const double x, const double y, const double Z)
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
#define vpERROR_TRACE
Definition: vpDebug.h:393
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:305
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
void stack(const vpMatrix &A)
Definition: vpMatrix.cpp:4551
unsigned int dim_s
Dimension of the visual feature.
static unsigned int selectY()
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
void set_y(const double y)
void set_x(const double x)
class that defines what is a visual feature
static unsigned int selectX()
#define vpTRACE
Definition: vpDebug.h:416
Error that can be emited by the vpBasicFeature class and its derivates.
double get_Z() const
Generic class defining intrinsic camera parameters.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static const unsigned int FEATURE_LINE[32]
void buildFrom(const double x, const double y, const double Z)
vpFeaturePoint * duplicate() const
vpBasicFeatureDeallocatorType deallocate
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double get_y() const
void stack(double d)
double get_x() const
void set_Z(const double Z)
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector s
State of the visual feature.
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpColVector.h:310
void print(const unsigned int select=FEATURE_ALL) const