ViSP  2.9.0
vpMomentGravityCenterNormalized.cpp
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2  *
3  * $Id: vpMomentGravityCenterNormalized.cpp 4620 2014-01-27 21:28:32Z fspindle $
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20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
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32  *
33  *
34  * Description:
35  * 2D normalized gravity center moment descriptor (usually described by the pair Xn,Yn)
36  *
37  * Authors:
38  * Filip Novotny
39  *
40  *****************************************************************************/
41 
42 #include <visp/vpMomentGravityCenterNormalized.h>
43 #include <visp/vpMomentObject.h>
44 #include <visp/vpMomentGravityCenter.h>
45 #include <visp/vpMomentAreaNormalized.h>
46 
52  bool found_moment_gravity;
53  bool found_moment_surface_normalized;
54 
55  const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
56  const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
57 
58  if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
59  if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
60 
61  double Xn = momentGravity.get()[0]*momentSurfaceNormalized.get()[0];
62  double Yn = momentGravity.get()[1]*momentSurfaceNormalized.get()[0];
63 
64  values[0] = Xn;
65  values[1] = Yn;
66 
67 }
68 
73 
77 VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenterNormalized& m){
78  os << "Xn:" << m.values[0] << ",Yn=" << m.values[1];
79 
80  return os;
81 }
Class handling the normalized surface moment that is invariant in scale and used to estimate depth...
const std::vector< double > & get() const
Definition: vpMoment.h:129
vpMomentDatabase & getMoments()
Definition: vpMoment.h:119
Class describing 2D normalized gravity center moment.
error that can be emited by ViSP classes.
Definition: vpException.h:76
const vpMoment & get(const char *type, bool &found) const
Class describing 2D gravity center moment.
const std::vector< double > & get() const
std::vector< double > values
Definition: vpMoment.h:114