JacobianTask.cpp

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/*
 * JacobianTask.cpp
 *
 *  Created on: Oct 08, 2018
 *      Author: Alejandro Alvarez Ayllon
 */
 
#include <iostream>
 
#include "SEImplementation/Plugin/DetectionFrameGroupStamp/DetectionFrameGroupStamp.h"
#include "SEImplementation/Plugin/ReferenceCoordinates/ReferenceCoordinates.h"
#include "SEImplementation/Plugin/WorldCentroid/WorldCentroid.h"
 
#include "SEImplementation/Plugin/MeasurementFrameCoordinates/MeasurementFrameCoordinates.h"
 
#include "SEImplementation/Plugin/Jacobian/Jacobian.h"
#include "SEImplementation/Plugin/Jacobian/JacobianTask.h"
 
namespace SourceXtractor {
 
void JacobianGroupTask::computeProperties(SourceGroupInterface &group) const {
  auto measurement_frame_coordinates = group.begin()->getProperty<MeasurementFrameCoordinates>(m_instance).getCoordinateSystem();
  auto reference_coordinates = group.begin()->getProperty<ReferenceCoordinates>().getCoordinateSystem();
  auto& detection_group_stamp = group.getProperty<DetectionFrameGroupStamp>();
 
  double x = detection_group_stamp.getTopLeft().m_x + detection_group_stamp.getStamp().getWidth() / 2.0;
  double y = detection_group_stamp.getTopLeft().m_y + detection_group_stamp.getStamp().getHeight() / 2.0;
 
  auto frame_origin = measurement_frame_coordinates->worldToImage(reference_coordinates->imageToWorld(ImageCoordinate(x, y)));
  auto frame_dx = measurement_frame_coordinates->worldToImage(
    reference_coordinates->imageToWorld(ImageCoordinate(x + 1.0, y)));
  auto frame_dy = measurement_frame_coordinates->worldToImage(
    reference_coordinates->imageToWorld(ImageCoordinate(x, y + 1.0)));
 
  group.setIndexedProperty<JacobianGroup>(m_instance,
                                          frame_dx.m_x - frame_origin.m_x, frame_dx.m_y - frame_origin.m_y,
                                          frame_dy.m_x - frame_origin.m_x, frame_dy.m_y - frame_origin.m_y);
}
 
void JacobianSourceTask::computeProperties(SourceInterface &source) const {
  auto measurement_frame_coordinates = source.getProperty<MeasurementFrameCoordinates>(m_instance).getCoordinateSystem();
  auto reference_coordinates = source.getProperty<ReferenceCoordinates>().getCoordinateSystem();
  auto world_centroid = source.getProperty<WorldCentroid>().getCentroid();
 
  auto reference_centroid = reference_coordinates->worldToImage(world_centroid);
  double x = reference_centroid.m_x;
  double y = reference_centroid.m_y;
 
  auto frame_origin = measurement_frame_coordinates->worldToImage(reference_coordinates->imageToWorld(ImageCoordinate(x, y)));
  auto frame_dx = measurement_frame_coordinates->worldToImage(
    reference_coordinates->imageToWorld(ImageCoordinate(x + 1.0, y)));
  auto frame_dy = measurement_frame_coordinates->worldToImage(
    reference_coordinates->imageToWorld(ImageCoordinate(x, y + 1.0)));
 
  source.setIndexedProperty<JacobianSource>(m_instance,
                                            frame_dx.m_x - frame_origin.m_x, frame_dx.m_y - frame_origin.m_y,
                                            frame_dy.m_x - frame_origin.m_x, frame_dy.m_y - frame_origin.m_y);
}
 
} // end SourceXtractor