42 #include <visp/vpMomentCInvariant.h>
43 #include <visp/vpMomentCentered.h>
44 #include <visp/vpMomentObject.h>
58 void vpMomentCInvariant::computeI(
vpMomentCentered& momentCentered, std::vector<double>& I){
59 double mu30 = momentCentered.
get(3,0);
60 double mu30_2 = mu30*mu30;
62 double mu03 = momentCentered.
get(0,3);
63 double mu03_2 = mu03*mu03;
64 double mu03_3 = mu03*mu03_2;
66 double mu20 = momentCentered.
get(2,0);
67 double mu02 = momentCentered.
get(0,2);
68 double mu50 = momentCentered.
get(5,0);
69 double mu32 = momentCentered.
get(3,2);
70 double mu14 = momentCentered.
get(1,4);
71 double mu05 = momentCentered.
get(0,5);
72 double mu23 = momentCentered.
get(2,3);
73 double mu41 = momentCentered.
get(4,1);
74 double mu40 = momentCentered.
get(4,0);
75 double mu04 = momentCentered.
get(0,4);
76 double mu31 = momentCentered.
get(3,1);
77 double mu13 = momentCentered.
get(1,3);
78 double mu22 = momentCentered.
get(2,2);
79 double mu21 = momentCentered.
get(2,1);
80 double mu12 = momentCentered.
get(1,2);
81 double mu11 = momentCentered.
get(1,1);
84 double mu11_2 = mu11*mu11;
85 double mu12_2 = mu12*mu12;
86 double mu21_2 = mu21*mu21;
87 double mu22_2 = mu22*mu22;
88 double mu13_2 = mu13*mu13;
89 double mu31_2 = mu31*mu31;
90 double mu04_2 = mu04*mu04;
91 double mu40_2 = mu40*mu40;
92 double mu21_3 = mu21*mu21_2;
93 double mu12_3 = mu12_2*mu12;
94 double mu12_4 = mu12_3*mu12;
95 double mu21_4 = mu21_2*mu21_2;
98 double kappa = mu30_2+mu03_2-3*mu21_2+6*mu21*mu03;
99 double zeta = mu20-mu02;
100 double zeta_2 = zeta * zeta;
101 double omicron = (mu03_2+3*mu03*mu21+mu30*(mu30+3*mu12));
102 double omega = mu50+2*mu32+mu14;
103 double nu = mu05+2*mu23+mu41;
104 double ro = mu50-2*mu32-3*mu14;
105 double gamma = mu05-2*mu23-3*mu41;
107 double delta = mu50-10*mu32+5*mu14;
108 double phi = mu05-10*mu23+5*mu41;
109 double omega_2 = omega*omega;
112 double gamma_2 = gamma*gamma;
113 double delta_2 = delta*delta;
114 double phi_2 = phi*phi;
116 I[1]=-mu20*mu02+mu11_2;
117 I[2]=zeta_2+4*mu11_2;
118 I[3]=(mu30-3*mu12)*(mu30-3*mu12)+(mu03-3*mu21)*(mu03-3*mu21);
119 I[4]=(mu30+mu12)*(mu30+mu12)+(mu21+mu03)*(mu21+mu03);
120 I[5]=-mu30_2*mu03_2+(-4*mu12_3+6*mu21*mu12*mu03)*mu30-4*mu21_3*mu03+3*mu21_2*mu12_2;
121 I[6]=3*mu12_4+2*mu30*mu12_3+(3*mu30_2-6*mu03*mu21)*mu12_2-6*mu30*mu21*(mu21+mu03)*mu12+2*mu30_2*mu03_2+2*mu21_3*mu03+3*mu21_2*mu03_2+3*mu21_4;
123 I[7]=(3*mu21+2*mu03)*mu12_3+3*mu30*(mu03+2*mu21)*mu12_2-3*mu21*(mu30+mu03+mu21)*(-mu30+mu03+mu21)*mu12+mu30*(-mu30_2*mu03-2*mu21_3-3*mu03*mu21_2+mu03_3);
124 I[8]=3*mu21_4-3*mu21_3*mu03+(3*mu03_2+kappa-6*mu12_2)*mu21_2-mu03*(-15*mu12_2+kappa)*mu21-(-3*mu12_2*mu30+(2*kappa-3*mu03_2)*mu12+kappa*mu30)*mu12;
125 I[9]=omicron*omicron;
127 I[10]=mu40*mu04-4*mu31*mu13+3*mu22_2;
128 I[11]=3*mu13_2+2*mu31*mu13+(-3*mu40-3*mu04)*mu22-2*mu40*mu04+3*mu31_2;
129 I[12]=3*mu04_2+(2*mu40+12*mu22)*mu04+3*mu40_2+12*mu40*mu22+16*mu31*mu13;
136 a = momentCentered.
get(2,0)+momentCentered.
get(0,2);
140 c[1]=momentCentered.
get(2,0)-momentCentered.
get(0,2);
141 s[1]=2*momentCentered.
get(1,1);
142 c[2]=momentCentered.
get(0,3)-3*momentCentered.
get(2,1);
143 s[2]=momentCentered.
get(3,0)-3*momentCentered.
get(1,2);
144 c[3]=c[1]*c[1]-s[1]*s[1];
147 II[1]=c[1]*c[1]+s[1]*s[1];
148 II[2]=c[2]*c[2]+s[2]*s[2];
149 II[3]=momentCentered.
get(2,0)+momentCentered.
get(0,2);
151 K=(II[1]*(II[3]*sqrt(II[3])))/sqrt(a);
164 bool found_moment_centered;
169 computeI(momentCentered,I);
170 double II3_2 = II[3]*II[3];
171 double II3_3 = II3_2*II[3];
175 a = momentCentered.
get(2,0)+momentCentered.
get(0,2);
198 values[10] = (c[2]*c[3]+s[2]*s[3])/K;
199 values[11] = (s[2]*c[3]-c[2]*s[3])/K;
201 values[12] = II[1]/(II3_2);
202 values[13] = a*II[2]/(II3_3);
210 std::cout <<
"I("<< index <<
")=" << I[index] << std::endl;
217 for(
unsigned int i = 0;i<c.
values.size();i++){
218 os << c.
values[i] <<
"," << std::endl;
vpMomentObject & getObject() const
vpMomentDatabase & getMoments()
double get(unsigned int i, unsigned int j)
error that can be emited by ViSP classes.
vpMoment & get(const char *type, bool &found)
This class defines shared methods/attributes for 2D moments.
std::vector< double > & get()
This class defines the double-indexed centered moment descriptor .
VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpImagePoint &ip)
vpObjectType getType() const
This class defines several 2D (translation+rotation+scale) invariants for both symmetric and non-symm...
std::vector< double > values
void printI(unsigned int index)