Visual Servoing Platform version 3.6.0
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vpMomentAreaNormalized.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 * 2D normalized surface moment descriptor (usually described as An)
33 *
34 * Authors:
35 * Filip Novotny
36 *
37*****************************************************************************/
38#include <cmath>
39#include <visp3/core/vpMomentAreaNormalized.h>
40#include <visp3/core/vpMomentCentered.h>
41#include <visp3/core/vpMomentDatabase.h>
42#include <visp3/core/vpMomentObject.h>
43
49{
50 bool found_moment_centered;
51
52 /* getMoments() returns a reference to a vpMomentDatabase. (a protected
53 * member inherited from vpMoment)
54 *.get() is a member function of vpMomentDatabase that returns
55 * a specific moment which is linked to it
56 * */
57 const vpMomentCentered &momentCentered =
58 static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
59
60 if (!found_moment_centered)
61 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
62
63 double a;
64 /* getObject() returns a reference to the vpMomentObject from which
65 * the moment values are calculated. (public member of vpMoment)*/
66 if (getObject().getType() == vpMomentObject::DISCRETE)
67 a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
68 else
69 a = getObject().get(0, 0);
70
71 values[0] = desiredDepth * sqrt(desiredSurface / a);
72}
73
80 : vpMoment(), desiredSurface(a_star), desiredDepth(Z_star)
81{
82 values.resize(1);
83}
84
88VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAreaNormalized &m)
89{
90 os << (__FILE__) << std::endl;
91 os << "An = " << m.values[0] << std::endl;
92 return os;
93}
94
104{
105 os << (__FILE__) << std::endl;
106 os << "Desired depth Z* = " << desiredDepth << std::endl;
107 os << "Desired area m00* = " << desiredSurface << std::endl;
108
109 bool found_moment_centered;
110 const vpMomentCentered &momentCentered =
111 static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
112 if (!found_moment_centered)
113 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
114
115 double a;
116 if (getObject().getType() == vpMomentObject::DISCRETE)
117 a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
118 else
119 a = getObject().get(0, 0);
120 os << "a = " << a << std::endl;
121}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
void printDependencies(std::ostream &os) const
vpMomentAreaNormalized(double a_star, double Z_star)
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition vpMoment.h:106
const vpMomentObject & getObject() const
Definition vpMoment.h:145
std::vector< double > values
Definition vpMoment.h:113
vpMomentDatabase & getMoments() const
Definition vpMoment.h:118