Visual Servoing Platform version 3.6.0
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vpBasicFeature.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Visual feature.
33 *
34 * Authors:
35 * Nicolas Mansard
36 *
37*****************************************************************************/
38
39#include <visp3/visual_features/vpBasicFeature.h>
40
41const unsigned int vpBasicFeature::FEATURE_LINE[32] = {
42 (unsigned int)(1 << 0), (unsigned int)(1 << 1), (unsigned int)(1 << 2), (unsigned int)(1 << 3),
43 (unsigned int)(1 << 4), (unsigned int)(1 << 5), (unsigned int)(1 << 6), (unsigned int)(1 << 7),
44 (unsigned int)(1 << 8), (unsigned int)(1 << 9), (unsigned int)(1 << 10), (unsigned int)(1 << 11),
45 (unsigned int)(1 << 12), (unsigned int)(1 << 13), (unsigned int)(1 << 14), (unsigned int)(1 << 15),
46 (unsigned int)(1 << 16), (unsigned int)(1 << 17), (unsigned int)(1 << 18), (unsigned int)(1 << 19),
47 (unsigned int)(1 << 20), (unsigned int)(1 << 21), (unsigned int)(1 << 22), (unsigned int)(1 << 23),
48 (unsigned int)(1 << 24), (unsigned int)(1 << 25), (unsigned int)(1 << 26), (unsigned int)(1 << 27),
49 (unsigned int)(1 << 28), (unsigned int)(1 << 29), (unsigned int)(1 << 30), (unsigned int)(1 << 31)};
50
58vpBasicFeature::vpBasicFeature() : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user) {}
59
64{
65 if (flags != NULL) {
66 delete[] flags;
67 flags = NULL;
68 }
69}
70
75 : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user)
76{
77 *this = f;
78}
79
84{
85 s = f.s;
86 dim_s = f.dim_s;
89 if (flags)
90 delete[] flags;
91 flags = new bool[nbParameters];
92 for (unsigned int i = 0; i < nbParameters; i++)
93 flags[i] = f.flags[i];
94
95 return (*this);
96}
97
99unsigned int vpBasicFeature::getDimension(unsigned int select) const
100{
101 unsigned int dim = 0;
102 if (dim_s > 31)
103 return dim_s;
104 for (unsigned int i = 0; i < s.getRows(); i++) {
105 if (FEATURE_LINE[i] & select)
106 dim += 1;
107 }
108 return dim;
109}
110
112vpColVector vpBasicFeature::get_s(unsigned int select) const
113{
114 vpColVector state(0), stateLine(1);
115 // if s is higher than the possible selections (photometry), send back the
116 // whole vector
117 if (dim_s > 31)
118 return s;
119
120 for (unsigned int i = 0; i < dim_s; ++i) {
121 if (FEATURE_LINE[i] & select) {
122 stateLine[0] = s[i];
123 state.stack(stateLine);
124 }
125 }
126 return state;
127}
128
130{
131 if (flags != NULL) {
132 for (unsigned int i = 0; i < nbParameters; i++)
133 flags[i] = false;
134 }
135}
136
140{
141 if (flags != NULL) {
142 for (unsigned int i = 0; i < nbParameters; i++)
143 flags[i] = true;
144 }
145}
146
149vpColVector vpBasicFeature::error(const vpBasicFeature &s_star, unsigned int select)
150{
151 vpColVector e(0), eLine(1);
152 if (dim_s <= 31) {
153 for (unsigned int i = 0; i < dim_s; ++i) {
154 if (FEATURE_LINE[i] & select) {
155 eLine[0] = s[i] - s_star[i];
156 e.stack(eLine);
157 // std::cout << "dim_s <= 31"<<std::endl;
158 }
159 }
160 } else {
161 e.resize(dim_s);
162 vpColVector sd = s_star.get_s();
163 e = s - sd;
164 }
165
166 return e;
167}
168
169/*
170 * Local variables:
171 * c-basic-offset: 4
172 * End:
173 */
unsigned int getRows() const
Definition vpArray2D.h:290
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
vpColVector s
State of the visual feature.
static const unsigned int FEATURE_LINE[32]
virtual ~vpBasicFeature()
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpBasicFeature & operator=(const vpBasicFeature &f)
unsigned int getDimension(unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
unsigned int dim_s
Dimension of the visual feature.
vpBasicFeatureDeallocatorType deallocate
Implementation of column vector and the associated operations.
void stack(double d)