vpMomentArea Class Reference

#include <visp3/core/vpMomentArea.h>

Inheritance diagram for vpMomentArea:

Public Member Functions
	vpMomentArea ()
virtual	~vpMomentArea ()
Inherited functionalities from vpMomentArea
void	compute ()
const char *	name () const
void	printDependencies (std::ostream &os) const
Inherited functionalities from vpMoment
const vpMomentObject &	getObject () const
const std::vector< double > &	get () const
void	linkTo (vpMomentDatabase &moments)
void	update (vpMomentObject &object)

Protected Member Functions
vpMomentDatabase &	getMoments () const

Protected Attributes
std::vector< double >	values

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpMomentArea &m)

Detailed Description

Class handling the surface moment.

Definition at line 54 of file vpMomentArea.h.

Constructor & Destructor Documentation

vpMomentArea::vpMomentArea

(

)

Default constructor.

Definition at line 72 of file vpMomentArea.cpp.

References vpMoment::values.

virtual vpMomentArea::~vpMomentArea ( )

inlinevirtual

Definition at line 58 of file vpMomentArea.h.

References vpMoment::compute().

Member Function Documentation

void vpMomentArea::compute ( )

virtual

Has the area . Gets the value of m00 from vpMomentCentered.

Implements vpMoment.

Definition at line 48 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMomentObject::get(), vpMoment::getMoments(), vpMoment::getObject(), vpException::notInitialized, and vpMoment::values.

Referenced by vpMomentCommon::updateAll().

const std::vector<double>& vpMoment::get ( ) const

inlineinherited

Returns all values computed by the moment.

Returns

vector of values

Definition at line 155 of file vpMoment.h.

Referenced by vpMomentGravityCenterNormalized::compute(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpMomentCentered::get(), vpFeatureMoment::init(), vpMomentGravityCenterNormalized::printDependencies(), and vpFeatureMoment::update().

vpMomentDatabase& vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns

the moment database

Definition at line 123 of file vpMoment.h.

Referenced by compute(), vpMomentGravityCenterNormalized::compute(), vpMomentCentered::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpMomentAlpha::compute(), printDependencies(), vpMomentGravityCenterNormalized::printDependencies(), vpMomentCentered::printDependencies(), vpMomentAreaNormalized::printDependencies(), and vpMomentAlpha::printDependencies().

const vpMomentObject& vpMoment::getObject ( ) const

inlineinherited

Definition at line 150 of file vpMoment.h.

Referenced by compute(), vpMomentCentered::compute(), vpMomentGravityCenter::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpMomentBasic::get(), vpMomentCentered::get(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), printDependencies(), vpMomentBasic::printDependencies(), vpMomentCentered::printDependencies(), vpMomentGravityCenter::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentCentered::printWithIndices(), vpMomentCentered::set(), and vpMomentCInvariant::vpMomentCInvariant().

void vpMoment::linkTo ( vpMomentDatabase &  data_base )

inherited

Links the moment to a database of moment primitives. If the moment depends on other moments, these moments must be linked to the same database.

Attention

Two moments of the same class cannot be stored in the same database

#include <visp3/core/vpMomentCentered.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentGravityCenter.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>

int main()
{
  vpPoint p;
  std::vector<vpPoint> vec_p;

  p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
  vec_p.push_back(p); p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)

  vpMomentObject obj(2);
  obj.setType(vpMomentObject::DISCRETE); // Discrete mode.
  obj.fromVector(vec_p); // Init the dense object with the polygon

  vpMomentDatabase db;
  vpMomentGravityCenter G; // declaration of gravity center
  vpMomentCentered mc; // mc containts centered moments

  G.linkTo(db); //add gravity center to database
  mc.linkTo(db); //centered moments depend on gravity, add them to the
                 //database to grant access

  G.update(obj); // specify the object for gravity center
  mc.update(obj); // and for centered moments

  G.compute(); // compute the moment
  mc.compute(); //compute centered moments AFTER gravity center

  return 0;
}

Parameters

data_base

: database of moment primitives.

Examples:

mbot-apriltag-ibvs.cpp, and testMomentAlpha.cpp.

Definition at line 98 of file vpMoment.cpp.

References vpException::memoryAllocationError, and vpMoment::name().

Referenced by vpMomentCommon::getAlpha(), vpMomentCommon::getMu3(), vpMomentCommon::getSurface(), and vpMomentCommon::vpMomentCommon().

const char* vpMomentArea::name ( ) const

inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 64 of file vpMomentArea.h.

References vpMoment::operator<<, and vpMoment::printDependencies().

void vpMomentArea::printDependencies ( std::ostream &  os ) const

virtual

If the vpMomentObject type is

1. DISCRETE(set of discrete points), uses mu20+mu02
2. DENSE_FULL_OBJECT(from image) used mu00

Reimplemented from vpMoment.

Definition at line 89 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMoment::getMoments(), vpMoment::getObject(), and vpException::notInitialized.

void vpMoment::update ( vpMomentObject &  moment_object )

inherited

Updates the moment with the current object. This does not compute any values.

Parameters

moment_object

: object descriptor of the current camera vision.

Definition at line 115 of file vpMoment.cpp.

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os, const vpMomentArea &  m  )

friend

Outputs the moment's values to a stream.

Definition at line 77 of file vpMomentArea.cpp.

Member Data Documentation

std::vector<double> vpMoment::values

protectedinherited

Definition at line 118 of file vpMoment.h.

Referenced by compute(), vpMomentGravityCenterNormalized::compute(), vpMomentCentered::compute(), vpMomentGravityCenter::compute(), vpMomentAreaNormalized::compute(), vpMomentCInvariant::compute(), vpMomentAlpha::compute(), vpMomentCentered::get(), vpMomentGravityCenter::get(), vpMomentCInvariant::getMomentVector(), vpMomentCentered::set(), vpMomentAlpha::vpMomentAlpha(), vpMomentArea(), vpMomentAreaNormalized::vpMomentAreaNormalized(), vpMomentCInvariant::vpMomentCInvariant(), and vpMomentGravityCenter::vpMomentGravityCenter().