Visual Servoing Platform  version 3.5.1 under development (2022-05-28)
vpFeatureMomentAlpha.cpp
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30  *
31  * Description:
32  * Implementation for alpha moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpMomentCentered.h>
40 #include <visp3/core/vpMomentGravityCenter.h>
41 #include <visp3/core/vpMomentObject.h>
42 #include <visp3/visual_features/vpFeatureMomentAlpha.h>
43 #include <visp3/visual_features/vpFeatureMomentCentered.h>
44 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
45 
46 #include <limits>
47 #include <vector>
48 
49 #ifdef VISP_MOMENTS_COMBINE_MATRICES
50 
59 {
60  bool found_moment_centered;
61  bool found_FeatureMoment_centered;
62 
63  const vpMomentCentered &momentCentered =
64  (static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered)));
65  vpFeatureMomentCentered &featureMomentCentered = (static_cast<vpFeatureMomentCentered &>(
66  featureMomentsDataBase->get("vpFeatureMomentCentered", found_FeatureMoment_centered)));
67 
68  if (!found_moment_centered)
69  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
70  if (!found_FeatureMoment_centered)
71  throw vpException(vpException::notInitialized, "vpFeatureMomentCentered not found");
72 
73  double u11 = momentCentered.get(1, 1);
74  double u20_u02 = momentCentered.get(2, 0) - momentCentered.get(0, 2);
75  double dinv = 1 / (4 * u11 * u11 + u20_u02 * u20_u02);
76  interaction_matrices[0].resize(1, 6);
78  (u20_u02 * dinv) * featureMomentCentered.interaction(1, 1) +
79  (u11 * dinv) * (featureMomentCentered.interaction(0, 2) - featureMomentCentered.interaction(2, 0));
80 }
81 
82 #else // #ifdef VISP_MOMENTS_COMBINE_MATRICES
83 
92 {
93  bool found_moment_centered;
94  bool found_moment_gravity;
95 
96  const vpMomentCentered &momentCentered =
97  static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered));
98  const vpMomentGravityCenter &momentGravity =
99  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
100  const vpMomentObject &momentObject = moment->getObject();
101 
102  if (!found_moment_centered)
103  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
104  if (!found_moment_gravity)
105  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
106 
107  double mu11 = momentCentered.get(1, 1);
108  double mu20 = momentCentered.get(2, 0);
109  double mu02 = momentCentered.get(0, 2);
110  double mu12 = momentCentered.get(1, 2);
111  double mu21 = momentCentered.get(2, 1);
112  double mu03 = momentCentered.get(0, 3);
113  double mu30 = momentCentered.get(3, 0);
114 
115  double Xg = momentGravity.getXg();
116  double Yg = momentGravity.getYg();
117 
118  double Avx, Avy, Avz, Awx, Awy;
119  double beta = (momentObject.getType() == vpMomentObject::DISCRETE) ? 2 : 5;
120 
121  double d = (mu20 - mu02) * (mu20 - mu02) + 4 * mu11 * mu11;
122  double DA = mu20 + mu02;
123  double DA_2 = DA * DA;
124  double mu11_2 = mu11 * mu11;
125 
126  Avx = mu11 * DA * A / d + (DA * mu02 + (0.5) * d - (0.5) * DA_2) * B / d;
127  Avy = (DA * mu02 - (0.5) * d - (.5) * DA_2) * A / d - B * mu11 * DA / d;
128 
129  Awx = (beta * (mu12 * (mu20 - mu02) + mu11 * (mu03 - mu21)) + Xg * (mu02 * (mu20 - mu02) - 2 * mu11_2) +
130  Yg * mu11 * (mu20 + mu02)) /
131  d;
132  Awy = (beta * (mu21 * (mu02 - mu20) + mu11 * (mu30 - mu12)) + Xg * mu11 * (mu20 + mu02) +
133  Yg * (mu20 * (mu02 - mu20) - 2 * mu11_2)) /
134  d;
135 
136  Avz = B * Awx - A * Awy;
137  interaction_matrices.resize(1);
138  interaction_matrices[0].resize(1, 6);
139 
140  int VX = 0;
141  int VY = 1;
142  int VZ = 2;
143  int WX = 3;
144  int WY = 4;
145  int WZ = 5;
146 
147  interaction_matrices[0][0][VX] = Avx;
148  interaction_matrices[0][0][VY] = Avy;
149  interaction_matrices[0][0][VZ] = Avz;
150 
151  interaction_matrices[0][0][WX] = Awx;
152  interaction_matrices[0][0][WY] = Awy;
153  interaction_matrices[0][0][WZ] = -1.;
154 }
155 
156 #endif // #ifdef VISP_MOMENTS_COMBINE_MATRICES
157 
158 vpColVector vpFeatureMomentAlpha::error(const vpBasicFeature &s_star, const unsigned int /* select */)
159 {
160  vpColVector e(0);
161  double err = s[0] - s_star[0];
162 
163  if (err < -M_PI)
164  err += 2 * M_PI;
165  if (err > M_PI)
166  err -= 2 * M_PI;
167 
168  vpColVector ecv(1);
169  ecv[0] = err;
170  e = vpColVector::stack(e, ecv);
171 
172  return e;
173 }
double get(unsigned int i, unsigned int j) const
const vpMoment * moment
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
Class for generic objects.
std::vector< vpMatrix > interaction_matrices
class that defines what is a visual feature
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
vpMomentDatabase & moments
This class defines the double-indexed centered moment descriptor .
vpObjectType getType() const
Class describing 2D gravity center moment.
vpFeatureMomentDatabase * featureMomentsDataBase
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void stack(double d)
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
vpFeatureMoment & get(const char *type, bool &found)
vpColVector s
State of the visual feature.