vpFeatureMomentAreaNormalized.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Implementation for all supported moment features.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/
#include <visp3/core/vpConfig.h>

#ifdef VISP_MOMENTS_COMBINE_MATRICES
#include <vector>
#include <limits>

#include <visp3/core/vpMomentObject.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentAreaNormalized.h>
#include <visp3/visual_features/vpFeatureMomentCentered.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>


void vpFeatureMomentAreaNormalized::compute_interaction(){
    bool found_moment_centered;
    bool found_moment_surface_normalized;
    bool found_FeatureMoment_centered;

    bool found_featuremoment_basic;
    vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));

    const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
    const vpMomentObject& momentObject = moment->getObject();
    const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
    vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));

    if(!found_FeatureMoment_centered) throw vpException(vpException::notInitialized, "vpFeatureMomentCentered not found");
    if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
    if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
    if(!found_featuremoment_basic) throw vpException(vpException::notInitialized,"vpFeatureMomentBasic not found");
    interaction_matrices.resize(1);
    interaction_matrices[0].resize(1,6);
    double normalized_multiplier;
    double a;
    vpMatrix La;
    if(momentObject.getType()==vpMomentObject::DISCRETE){
        a = momentCentered.get(2,0)+momentCentered.get(0,2);
        La = featureMomentCentered.interaction(2,0)+featureMomentCentered.interaction(0,2);
    }else{
        a = momentObject.get(0,0);
        La = featureMomentBasic.interaction(0,0);
    }

    normalized_multiplier = (-momentSurfaceNormalized.getDesiredDepth()/(2*a))*sqrt(momentSurfaceNormalized.getDesiredSurface()/a);
    interaction_matrices[0] = normalized_multiplier*La;

}

#else

#include <vector>
#include <limits>

#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpMomentAreaNormalized.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>
#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>

void vpFeatureMomentAreaNormalized::compute_interaction(){
    bool found_moment_centered;
    bool found_moment_surface_normalized;
    bool found_moment_gravity;

    const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
    const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
    const vpMomentObject& momentObject = moment->getObject();
    const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));

    if (!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
    if (!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
    if (!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
    interaction_matrices.resize(1);
    interaction_matrices[0].resize(1,6);
    double n11 = momentCentered.get(1,1)/momentObject.get(0,0);
    double n20 = momentCentered.get(2,0)/momentObject.get(0,0);
    double n02 = momentCentered.get(0,2)/momentObject.get(0,0);
    double Xg = momentGravity.getXg();
    double Yg = momentGravity.getYg();

    double An=momentSurfaceNormalized.get()[0];

    double Xn = An*Xg;
    double Yn = An*Yg;

    double Anvx,Anvy,Anvz,Anwx,Anwy;

    if (momentObject.getType()==vpMomentObject::DISCRETE) {
        double a = momentCentered.get(2,0)+momentCentered.get(0,2);

        double e01 = momentCentered.get(0,1)/a;
        double e10 = momentCentered.get(1,0)/a;
        double e11 = momentCentered.get(1,1)/a;
        double e02 = momentCentered.get(0,2)/a;
        double e20 = momentCentered.get(2,0)/a;
        double e12 = momentCentered.get(1,2)/a;
        double e21 = momentCentered.get(2,1)/a;
        double e03 = momentCentered.get(0,3)/a;
        double e30 = momentCentered.get(3,0)/a;

        Anvx = An*A*e20+An*B*e11;
        Anvy = An*A*e11+An*B*e02;

        Anwx = (n02*e01+n11*e10-e03-e21)*An-Xn*e11+(-1-e02)*Yn;
        Anwy = (e12+e30-n11*e01-n20*e10)*An+(2-e02)*Xn+Yn*e11;

        Anvz = -An*C+B*Anwx-A*Anwy;

    } else {
        Anvx = A*An/2.;
        Anvy = B*An/2.;
        Anvz = -An*C-(3./2.)*A*Xn-(3./2.)*B*Yn;

        Anwx = -(3./2.)*Yn;
        Anwy =  (3./2.)*Xn;
    }

    int VX = 0;
    int VY = 1;
    int VZ = 2;
    int WX = 3;
    int WY = 4;
    int WZ = 5;

    interaction_matrices[0][0][VX] = Anvx;
    interaction_matrices[0][0][VY] = Anvy;
    interaction_matrices[0][0][VZ] = Anvz;

    interaction_matrices[0][0][WX] = Anwx;
    interaction_matrices[0][0][WY] = Anwy;
    interaction_matrices[0][0][WZ] = 0.;
}


#endif