vpFeatureTranslation.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 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(double t_x) { s[0] = t_x; }
void vpFeatureTranslation::set_Ty(double t_y) { s[1] = t_y; }
void vpFeatureTranslation::set_Tz(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(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, 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(unsigned int select) const
{
  std::cout << "Translation 3D:";
  if (vpFeatureTranslation::selectTx() & select) {
    std::cout << " tx=" << s[0];
  }
  if (vpFeatureTranslation::selectTy() & select) {
    std::cout << " ty=" << s[1];
  }
  if (vpFeatureTranslation::selectTz() & select) {
    std::cout << " tz=" << 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]; }