ViSP  2.8.0
vpMomentCentered.cpp
1 /****************************************************************************
2  *
3  * $Id: vpMomentCentered.cpp 4056 2013-01-05 13:04:42Z fspindle $
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5  * This file is part of the ViSP software.
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15  * GPL, please contact INRIA about acquiring a ViSP Professional
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20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
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24  * France
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31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Centered moment descriptor
36  *
37  * Authors:
38  * Filip Novotny
39  *
40  *****************************************************************************/
41 
42 #include <visp/vpMomentCentered.h>
43 #include <visp/vpMomentObject.h>
44 #include <visp/vpMomentGravityCenter.h>
45 #include <exception>
46 #include <cassert>
47 
53  bool found_moment_gravity;
54  values.resize((getObject().getOrder()+1)*(getObject().getOrder()+1));
55 
56  vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
57  if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
58  unsigned int order = getObject().getOrder()+1;
59  for(register unsigned int j=0;j<(order);j++){
60  for(register unsigned int i=0;i<order-j;i++){
61  unsigned int c = order*j+i;
62  values[c]=0;
63  for(register unsigned int k=0;k<=i;k++){
64  double Xg_i_k = pow(-momentGravity.get()[0],(int)(i-k));
65  double comb_i_k = static_cast<double>( vpMath::comb(i,k) );
66  for(register unsigned int l=0;l<=j;l++){
67  values[c]+= static_cast<double>( comb_i_k*vpMath::comb(j,l)
68  *Xg_i_k
69  *pow(-momentGravity.get()[1],(int)(j-l))*getObject().get(k,l) );
70  }
71  }
72  }
73  }
74 
75 }
76 
81 
82 }
83 
90 double vpMomentCentered::get(unsigned int i,unsigned int j){
91  assert(i+j<=getObject().getOrder());
92  if(i+j>getObject().getOrder()) throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
93 
94  return values[j*(getObject().getOrder()+1)+i];
95 }
96 
112 std::ostream & operator<<(std::ostream & os, vpMomentCentered& m){
113  for(unsigned int i = 0;i<m.values.size();i++){
114  if(i%(m.getObject().getOrder()+1)==0)
115  os << std::endl;
116 
117  if((i%(m.getObject().getOrder()+1)+i/(m.getObject().getOrder()+1))<m.getObject().getOrder()+1)
118  os << m.values[i] ;
119  else
120  os << "x";
121 
122  os << "\t";
123  }
124 
125  return os;
126 }
vpMomentObject & getObject() const
Definition: vpMoment.h:119
vpMomentDatabase & getMoments()
Definition: vpMoment.h:115
error that can be emited by ViSP classes.
Definition: vpException.h:75
vpMoment & get(const char *type, bool &found)
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:104
std::vector< double > & get()
This class defines the double-indexed centered moment descriptor .
VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpImagePoint &ip)
Definition: vpImagePoint.h:529
Class describing 2D gravity center moment.
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:213
std::vector< double > & get()
std::vector< double > & get()
std::vector< double > values
Definition: vpMoment.h:110
unsigned int getOrder() const