vpFeatureMomentGravityCenterNormalized.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 <limits>
#include <vector>

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

void vpFeatureMomentGravityCenterNormalized::compute_interaction()
{
  bool found_moment_gravity;
  bool found_moment_surface_normalized;

  bool found_featuremoment_gravity;
  bool found_featuremoment_surfacenormalized;

  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
      moments.get("vpMomentAreaNormalized", found_moment_surface_normalized));
  const vpMomentGravityCenter &momentGravity =
      static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
  vpFeatureMomentGravityCenter &featureMomentGravity = (static_cast<vpFeatureMomentGravityCenter &>(
      featureMomentsDataBase->get("vpFeatureMomentGravityCenter", found_featuremoment_gravity)));
  vpFeatureMomentAreaNormalized featureMomentAreaNormalized = (static_cast<vpFeatureMomentAreaNormalized &>(
      featureMomentsDataBase->get("vpFeatureMomentAreaNormalized", found_featuremoment_surfacenormalized)));

  if (!found_moment_surface_normalized)
    throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
  if (!found_moment_gravity)
    throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");

  if (!found_featuremoment_gravity)
    throw vpException(vpException::notInitialized, "vpFeatureMomentGravityCenter not found");
  if (!found_featuremoment_surfacenormalized)
    throw vpException(vpException::notInitialized, "vpFeatureMomentAreaNormalized not found");

  interaction_matrices[0].resize(1, 6);
  interaction_matrices[1].resize(1, 6);

  interaction_matrices[0] = momentGravity.get()[0] * featureMomentAreaNormalized.interaction(1) +
                            momentSurfaceNormalized.get()[0] * featureMomentGravity.interaction(1);
  interaction_matrices[1] = momentGravity.get()[1] * featureMomentAreaNormalized.interaction(1) +
                            momentSurfaceNormalized.get()[0] * featureMomentGravity.interaction(2);
}

#else

#include <limits>
#include <vector>

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

void vpFeatureMomentGravityCenterNormalized::compute_interaction()
{

  bool found_moment_surface_normalized;
  bool found_moment_gravity;
  bool found_moment_centered;

  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 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_gravity)
    throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
  if (!found_moment_centered)
    throw vpException(vpException::notInitialized, "vpMomentCentered not found");

  const vpMomentObject &momentObject = moment->getObject();
  interaction_matrices[0].resize(1, 6);
  interaction_matrices[1].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 n10 = momentCentered.get(1, 0) / momentObject.get(0, 0);
  double n01 = momentCentered.get(0, 1) / momentObject.get(0, 0);
  double n03 = momentCentered.get(0, 3) / 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 Xnvx, Xnvy, Xnvz, Xnwx, Xnwy;
  double Ynvx, Ynvy, Ynvz, Ynwx, Ynwy;

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

    double e11 = momentCentered.get(1, 1) / a;
    double e12 = momentCentered.get(1, 2) / a;
    double e21 = momentCentered.get(2, 1) / a;
    double e30 = momentCentered.get(3, 0) / a;

    double NA = n20 + n02;

    Xnvx = B * Xn * e11 - Yn * B - An * C - n02 * A * Xn / NA;
    Xnvy = A * Xn * e11 + n02 * B * Xn / NA;

    Xnwx = An * e11 * NA + Yn * n10 - Xn * Xg * e11 + Xn * n01 + Xn * n10 * e11 - Xn * e21 +
           (-Xn * n03 + (Xn * n01 - Yn * Xg) * n02) / NA;
    Xnwy = -An * NA + Xn * e12 + Xn * Xg - An + e11 * Xg * Yn - Xn * n01 * e11 - 2 * Xn * n10 + Xn * e30 + n02 * An +
           (-Xn * Xg + Xn * n10) * n02 / NA;

    Ynvx = (Yn - n02 * Yn / NA) * A + Yn * e11 * B;
    Ynvy = (-Xn + e11 * Yn) * A + (-Yn + n02 * Yn / NA) * B - An * C;

    Ynwx = n02 * An + Yn * n10 * e11 - e11 * Xg * Yn + An - Yn * e21 + Yn * n01 +
           (-Yn * n03 + (Yn * n01 - Yn * Yg) * n02) / NA;
    Ynwy = -An * e11 * NA + Yn * e11 * Yg - Yn * n01 * e11 + Yn * Xg + Yn * e12 + Yn * e30 - Xn * n01 - 2 * Yn * n10 +
           (Yn * n10 - Yn * Xg) * n02 / NA;

  } else {
    Xnvx = -An * C - A * Xn - Yn * B;
    Xnvy = (0.5) * B * Xn;

    Xnwx = (0.5 * (8. * n10 - Xg)) * Yn + 4. * An * n11 + 4. * n01 * Xn;
    Xnwy = (0.5 * (-2. - 8. * n20)) * An + (0.5) * Xn * (-8. * n10 + Xg);

    Ynvx = (0.5) * A * Yn;
    Ynvy = -(0.5) * B * Yn - C * An - A * Xn;

    Ynwx = (0.5) * Yn * (8. * n01 - Yg) + (.5 * (2. + 8. * n02)) * An;
    Ynwy = (0.5 * (-8. * n10 + Xg)) * Yn - 4. * An * n11 - 4. * n01 * Xn;
  }

  Ynvz = -A * Ynwy + (-An + Ynwx) * B;
  Xnvz = -A * An - A * Xnwy + B * Xnwx;

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

  interaction_matrices[0][0][VX] = Xnvx;
  interaction_matrices[0][0][VY] = Xnvy;
  interaction_matrices[0][0][VZ] = Xnvz;

  interaction_matrices[0][0][WX] = Xnwx;
  interaction_matrices[0][0][WY] = Xnwy;
  interaction_matrices[0][0][WZ] = Yn;

  interaction_matrices[1][0][VX] = Ynvx;
  interaction_matrices[1][0][VY] = Ynvy;
  interaction_matrices[1][0][VZ] = Ynvz;

  interaction_matrices[1][0][WX] = Ynwx;
  interaction_matrices[1][0][WY] = Ynwy;
  interaction_matrices[1][0][WZ] = -Xn;
}
#endif