vpMomentArea Class Reference

#include <visp3/core/vpMomentArea.h>

Inheritance diagram for vpMomentArea:

Public Member Functions
	vpMomentArea ()
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

Inherited functionalities from vpMomentArea
void	compute ()
const std::string	name () const
void	printDependencies (std::ostream &os) const
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpMomentArea &m)

Detailed Description

Class handling the surface moment.

For a dense planar object, the area corresponds to the zero-order moment:

When considering a discrete set of points, the moment simply corresponds to the number of points. Since this is of no use in a servoing scheme, this class uses in this case , which is invariant to planar translation and rotation.

Definition at line 58 of file vpMomentArea.h.

Constructor & Destructor Documentation

vpMomentArea()

vpMomentArea::vpMomentArea

(

)

Default constructor.

Definition at line 75 of file vpMomentArea.cpp.

References vpMoment::values.

Member Function Documentation

compute()

BEGIN_VISP_NAMESPACE void vpMomentArea::compute ( )

virtual

Has the area for dense objects, for a discrete set of points. Gets the value of from vpMomentCentered.

Implements vpMoment.

Definition at line 50 of file vpMomentArea.cpp.

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

Referenced by vpMomentCommon::updateAll().

get()

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

inlineinherited

Returns all values computed by the moment.

Returns

vector of values

Definition at line 150 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().

getMoments()

vpMomentDatabase& vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns

the moment database

Definition at line 118 of file vpMoment.h.

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

getObject()

const vpMomentObject& vpMoment::getObject ( ) const

inlineinherited

Definition at line 145 of file vpMoment.h.

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

linkTo()

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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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)
  vec_p.push_back(p);
 
  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 contains 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, servoBebop2.cpp, and testMomentAlpha.cpp.

Definition at line 114 of file vpMoment.cpp.

References vpMoment::name().

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

name()

const std::string vpMomentArea::name ( ) const

inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 67 of file vpMomentArea.h.

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 82 of file vpMomentArea.cpp.

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

update()

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 127 of file vpMoment.cpp.

Friends And Related Function Documentation

operator<<

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

friend

Outputs the moment's values to a stream.

Definition at line 104 of file vpMomentArea.cpp.

Member Data Documentation

values

std::vector<double> vpMoment::values

protectedinherited

Definition at line 113 of file vpMoment.h.

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