Visual Servoing Platform
version 3.6.1 under development (2024-10-15)
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#include <visp3/core/vpMomentCInvariant.h>
Public Member Functions | |
VP_EXPLICIT | vpMomentCInvariant (bool flg_sxsynormalization=false) |
double | C1 () const |
double | C2 () const |
double | C3 () const |
double | C4 () const |
double | C5 () const |
double | C6 () const |
double | C7 () const |
double | C8 () const |
double | C9 () const |
double | C10 () const |
void | compute () |
double | get (unsigned int i) const |
double | getC (unsigned int i) const |
double | getI (unsigned int index) const |
void | printInvariants (std::ostream &os) const |
double | getII (unsigned int i) const |
double | getK () const |
double | getS (unsigned int i) const |
const std::string | name () const |
void | printI (unsigned int index) |
double | Px () |
double | Py () |
double | Sx () const |
double | Sy () const |
double | getIn1 () const |
double | getCN (unsigned int i) const |
double | getSN (unsigned int i) const |
bool | isSxSyfromNormalizedMoments () const |
const std::vector< double > & | getMomentVector () const |
Inherited functionalities from vpMoment | |
const vpMomentObject & | getObject () const |
const std::vector< double > & | get () const |
void | linkTo (vpMomentDatabase &moments) |
virtual void | printDependencies (std::ostream &os) const |
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 vpMomentCInvariant &v) |
This class defines several 2D (translation+rotation+scale) invariants for both symmetric and non-symmetric objects. These moment-based invariants are described in the following papers [6], [48].
The descriptions for the invariants to can be found in [6] and for invariants , , , in [48].
These invariants are classicaly used in visual servoing to control the out-of-plane rotations. The C-type or P-type invariants are used for non-symmetric objects whereas the S-type invariants are used for symmetric objects.
For most cases of non-symmetric objects, ( , ) or ( , ) couples are widely used to control x and y rotations. For symmetric objects and are the only choice.
There are 14 translation+rotation+scale invariants (10 C-type, 2 P-type and 2 S-type) that can be accessed from by vpMomentCInvariant::get or any of the get shortcuts.
The example below shows how to retrieve the invariant:
vpMomentCInvariant depends on vpMomentCentered (see vpMomentDatabase and vpMomentCommon).
Definition at line 127 of file vpMomentCInvariant.h.
BEGIN_VISP_NAMESPACE vpMomentCInvariant::vpMomentCInvariant | ( | bool | flg_sxsynormalization = false | ) |
Default constructor. (option to use a different calculation mode for sx and sy)
Definition at line 49 of file vpMomentCInvariant.cpp.
References vpMoment::values.
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Shorcut for getting the value of .
Definition at line 152 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 188 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 156 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 160 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 164 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 168 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 172 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 176 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 180 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 184 of file vpMomentCInvariant.h.
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Computes translation-plane-rotation-scale invariants. Depends on vpMomentCentered. All possible invariants are computed here. The selection of the invariant is done afterwards.
Implements vpMoment.
Definition at line 196 of file vpMomentCInvariant.cpp.
References vpMomentObject::DISCRETE, vpMomentObject::get(), vpMomentDatabase::get(), vpMomentCentered::get(), vpMoment::getMoments(), vpMoment::getObject(), vpException::notInitialized, and vpMoment::values.
Referenced by vpMomentCommon::updateAll().
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Returns all values computed by the moment.
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().
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Gets the desired invariant.
i | given index. For invariants from C1 to C10 the corresponding index is from 0 to 9. For , the indexes are 10,11 and for , they are 12,13. |
Definition at line 198 of file vpMomentCInvariant.h.
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Access to partial invariant c (see [2]).
Definition at line 203 of file vpMomentCInvariant.h.
Referenced by vpFeatureMomentCInvariant::compute_interaction().
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Getter for c (calculated from normalized 2nd and 3ord order moments)
Definition at line 266 of file vpMomentCInvariant.h.
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Access to partial invariants. The index convention is the same as in [1].
Definition at line 207 of file vpMomentCInvariant.h.
Referenced by vpFeatureMomentCInvariant::compute_interaction().
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Access to partial invariant I (see [2]).
Definition at line 217 of file vpMomentCInvariant.h.
Referenced by vpFeatureMomentCInvariant::compute_interaction().
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Getters for I (calculated from normalized 2nd and 3ord order moments)
Definition at line 260 of file vpMomentCInvariant.h.
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Access to partial invariant K (see [2]).
Definition at line 221 of file vpMomentCInvariant.h.
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Returns the linked moment database.
Definition at line 118 of file vpMoment.h.
Referenced by vpMomentAlpha::compute(), vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), compute(), vpMomentGravityCenterNormalized::compute(), vpMomentAlpha::printDependencies(), vpMomentArea::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentCentered::printDependencies(), and vpMomentGravityCenterNormalized::printDependencies().
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To get all the invariant values as a whole.
Definition at line 282 of file vpMomentCInvariant.h.
References vpMoment::values.
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Definition at line 145 of file vpMoment.h.
Referenced by vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), 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(), vpMomentArea::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentBasic::printDependencies(), vpMomentCentered::printDependencies(), vpMomentGravityCenter::printDependencies(), vpMomentCentered::printWithIndices(), and vpMomentCentered::set().
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Access to partial invariant S (see [2]).
Definition at line 226 of file vpMomentCInvariant.h.
Referenced by vpFeatureMomentCInvariant::compute_interaction().
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Getter for s (calculated from normalized 2nd and 3ord order moments)
Definition at line 272 of file vpMomentCInvariant.h.
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To know if Sx and Sy were calculated from normalized moments or not
Definition at line 277 of file vpMomentCInvariant.h.
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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.
data_base | : database of moment primitives. |
Definition at line 114 of file vpMoment.cpp.
References vpMoment::name().
Referenced by vpMomentCommon::getAlpha(), vpMomentCommon::getMu3(), vpMomentCommon::getSurface(), and vpMomentCommon::vpMomentCommon().
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Prints values of all dependent moments required to calculate a specific vpMoment. Not made pure to maintain compatibility Recommended : Types inheriting from vpMoment should implement this function
Reimplemented in vpMomentGravityCenterNormalized, vpMomentGravityCenter, vpMomentCentered, vpMomentBasic, vpMomentAreaNormalized, vpMomentArea, and vpMomentAlpha.
Definition at line 134 of file vpMoment.cpp.
void vpMomentCInvariant::printI | ( | unsigned int | index | ) |
Print partial invariant.
Prints the temporary invariants. Used for debug purposes only
index | : index of the temporary invariant |
Definition at line 270 of file vpMomentCInvariant.cpp.
void vpMomentCInvariant::printInvariants | ( | std::ostream & | os | ) | const |
Print the moment invariants used to obtain the actual visual features
Print out all invariants that were computed There are 15 of them, as in [Point-based and region based.ITRO05] [48]
Definition at line 277 of file vpMomentCInvariant.cpp.
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Shorcut for getting the value of .
Definition at line 241 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 245 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 250 of file vpMomentCInvariant.h.
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Shorcut for getting the value of .
Definition at line 254 of file vpMomentCInvariant.h.
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Updates the moment with the current object. This does not compute any values.
moment_object | : object descriptor of the current camera vision. |
Definition at line 127 of file vpMoment.cpp.
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Outputs the moment's values to a stream.
Definition at line 289 of file vpMomentCInvariant.cpp.
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protectedinherited |
Definition at line 113 of file vpMoment.h.
Referenced by vpMomentAlpha::compute(), vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), compute(), vpMomentGravityCenter::compute(), vpMomentGravityCenterNormalized::compute(), vpMomentGravityCenter::get(), vpMomentCentered::get(), getMomentVector(), vpMomentCentered::set(), vpMomentAlpha::vpMomentAlpha(), vpMomentArea::vpMomentArea(), vpMomentAreaNormalized::vpMomentAreaNormalized(), vpMomentCInvariant(), and vpMomentGravityCenter::vpMomentGravityCenter().