vpFeatureMoment.h

/****************************************************************************
*
* $Id: vpFeatureMoment.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Base for all moment features
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#ifndef __FEATUREMOMENT_H__
#define __FEATUREMOMENT_H__

#include <visp/vpConfig.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpException.h>
#include <vector>

class vpMomentObject;
class vpMomentDatabase;
class vpFeatureMomentDatabase;
class vpMoment;


class VISP_EXPORT vpFeatureMoment : public vpBasicFeature{
protected:
  const vpMoment* moment;
  const vpMoment& getMoment() const {return *moment;}
  vpMomentDatabase& moments;
  vpFeatureMomentDatabase* featureMomentsDataBase;
  std::vector<vpMatrix> interaction_matrices;

  double A;
  double B;
  double C;
  char _name[255];

public:
  vpFeatureMoment(vpMomentDatabase& data_base,double A_=0.0, double B_=0.0, double C_=0.0,
                  vpFeatureMomentDatabase* featureMoments=NULL,unsigned int nbmatrices=1)
    : moment(NULL),
      moments(data_base),
      featureMomentsDataBase(featureMoments),
      interaction_matrices(nbmatrices),
      A(A_),B(B_),C(C_) {}
      virtual ~vpFeatureMoment();

      virtual void  compute_interaction (void);
      vpBasicFeature* duplicate ()  const;
      void  display (const vpCameraParameters &cam, const vpImage< unsigned char > &I,
                     const vpColor &color=vpColor::green, unsigned int thickness=1) const ;
      void  display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I,
                     const vpColor &color=vpColor::green, unsigned int thickness=1) const ;

      int   getDimension (unsigned int select=FEATURE_ALL) const;
      void  init (void);
      vpMatrix  interaction (const unsigned int select=FEATURE_ALL) ;
      void linkTo(vpFeatureMomentDatabase& featureMoments);

      virtual const char* momentName() const = 0;
      virtual const char* name() const = 0;
      void  print (const unsigned int select=FEATURE_ALL) const ;

      void update (double A, double B, double C);

#ifndef DOXYGEN_SHOULD_SKIP_THIS
        vpFeatureMoment& operator=(const vpFeatureMoment &){
          throw vpException(vpException::functionNotImplementedError,"Not implemented!");
        }
#endif

};

class VISP_EXPORT vpMomentGenericFeature : public vpFeatureMoment{
public:
  vpMomentGenericFeature(vpMomentDatabase& data_base,double A_, double B_, double C_,
                         vpFeatureMomentDatabase* featureMoments, const vpMoment* p_moment)
    : vpFeatureMoment(data_base,A_,B_,C_,featureMoments){this->moment = p_moment;}
  const char* momentName() const { return NULL;}
  virtual const char* name() const { return NULL;}
};

#endif