vpFeatureMomentBasic.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/vpMomentObject.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>
#include <visp3/visual_features/vpFeatureMomentDatabase.h>
#include <vector>
#include <limits>
vpFeatureMomentBasic::vpFeatureMomentBasic(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments) :
  vpFeatureMoment(data_base,A_,B_,C_,featureMoments), order(0)
{
}

void vpFeatureMomentBasic::compute_interaction(){
    int delta;
    const vpMomentObject& m = moment->getObject();
    order = m.getOrder()+1;
    interaction_matrices.resize(order*order);
    for(std::vector< vpMatrix >::iterator i=interaction_matrices.begin();i!=interaction_matrices.end();++i)
        i->resize(1,6);
    if (m.getType()==vpMomentObject::DISCRETE){
        delta=0;
    } else {
        delta=1;
    }

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

    //i=0;j=0
    interaction_matrices[0][0][VX] = -delta*A*m.get(0, 0);
    interaction_matrices[0][0][VY] = -delta*B*m.get(0, 0);
    interaction_matrices[0][0][VZ] =  3*delta*(A*m.get(1, 0)+B*m.get(0, 1)+C*m.get(0, 0))-delta*C*m.get(0, 0);

    interaction_matrices[0][0][WX] =  3*delta*m.get(0, 1);
    interaction_matrices[0][0][WY] = -3*delta*m.get(1, 0);
    interaction_matrices[0][0][WZ] = 0;

    // int i=0;
    for(int j=1;j<(int)order-1;j++){
      unsigned int j_ = (unsigned int) j;
      unsigned int jm1_ = j_ - 1;
      unsigned int jp1_ = j_ + 1;

        interaction_matrices[j_*order][0][VX] = -delta*A*m.get(0, j_);
        interaction_matrices[j_*order][0][VY] = -j*(A*m.get(1,jm1_)+B*m.get(0,j_)+C*m.get(0,jm1_))-delta*B*m.get(0,j_);
        interaction_matrices[j_*order][0][VZ] = (j+3*delta)*(A*m.get(1,j_)+B*m.get(0,jp1_)+C*m.get(0,j_))-delta*C*m.get(0,j_);

        interaction_matrices[j_*order][0][WX] = (j+3*delta)*m.get(0,jp1_)+j*m.get(0,jm1_);
        interaction_matrices[j_*order][0][WY] = -(j+3*delta)*m.get(1,j_);
        interaction_matrices[j_*order][0][WZ] = -j*m.get(1,jm1_);
    }

    //int j=0;
    for(int i=1;i<(int)order-1;i++){
      unsigned int i_ = (unsigned int) i;
      unsigned int im1_ = i_ - 1;
      unsigned int ip1_ = i_ + 1;

      interaction_matrices[i_][0][VX] = -i*(A*m.get(i_, 0)+B*m.get(im1_, 1)+C*m.get(im1_, 0))-delta*A*m.get(i_, 0);
      interaction_matrices[i_][0][VY] = -delta*B*m.get(i_, 0);
      interaction_matrices[i_][0][VZ] = (i+3*delta)*(A*m.get(ip1_, 0)+B*m.get(i_, 1)+C*m.get(i_, 0))-delta*C*m.get(i_, 0);

      interaction_matrices[i_][0][WX] = (i+3*delta)*m.get(i_, 1);
      interaction_matrices[i_][0][WY] = -(i+3*delta)*m.get(ip1_, 0)-i*m.get(im1_, 0);
      interaction_matrices[i_][0][WZ] = i*m.get(im1_, 1);
    }

    for(int j=1; j<(int)order-1; j++){
      unsigned int j_ = (unsigned int) j;
      unsigned int jm1_ = j_ - 1;
      unsigned int jp1_ = j_ + 1;

        for(int i=1; i<(int)order-j-1; i++){
          unsigned int i_ = (unsigned int) i;
          unsigned int im1_ = i_ - 1;
          unsigned int ip1_ = i_ + 1;

          interaction_matrices[j_*order+i_][0][VX] = -i*(A*m.get(i_, j_)+B*m.get(im1_, jp1_)+C*m.get(im1_,j_))-delta*A*m.get(i_, j_);
          interaction_matrices[j_*order+i_][0][VY] = -j*(A*m.get(ip1_, jm1_)+B*m.get(i_, j_)+C*m.get(i_,jm1_))-delta*B*m.get(i_, j_);
          interaction_matrices[j_*order+i_][0][VZ] = (i+j+3*delta)*(A*m.get(ip1_, j_)+B*m.get(i_,jp1_)+C*m.get(i_, j_))-delta*C*m.get(i_,j_);

          interaction_matrices[j_*order+i_][0][WX] = (i+j+3*delta)*m.get(i_, jp1_)+j*m.get(i_, jm1_);
          interaction_matrices[j_*order+i_][0][WY] = -(i+j+3*delta)*m.get(ip1_, j_)-i*m.get(im1_, j_);
          interaction_matrices[j_*order+i_][0][WZ] = i*m.get(im1_,jp1_)-j*m.get(ip1_, jm1_);
        }
    }
}

vpMatrix vpFeatureMomentBasic::interaction (unsigned int select_one,unsigned int select_two) const {
    if(select_one+select_two>moment->getObject().getOrder())
      throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
    return interaction_matrices[select_two*order+select_one];
}