Visual Servoing Platform  version 3.3.1 under development (2020-07-03)
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);
77  interaction_matrices[0] = (u20_u02*dinv) * featureMomentCentered.interaction(1,1) +
78  (u11*dinv) * (featureMomentCentered.interaction(0,2)-featureMomentCentered.interaction(2,0));
79 }
80 
81 #else // #ifdef VISP_MOMENTS_COMBINE_MATRICES
82 
91 {
92  bool found_moment_centered;
93  bool found_moment_gravity;
94 
95  const vpMomentCentered &momentCentered =
96  static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered));
97  const vpMomentGravityCenter &momentGravity =
98  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
99  const vpMomentObject &momentObject = moment->getObject();
100 
101  if (!found_moment_centered)
102  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
103  if (!found_moment_gravity)
104  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
105 
106  double mu11 = momentCentered.get(1, 1);
107  double mu20 = momentCentered.get(2, 0);
108  double mu02 = momentCentered.get(0, 2);
109  double mu12 = momentCentered.get(1, 2);
110  double mu21 = momentCentered.get(2, 1);
111  double mu03 = momentCentered.get(0, 3);
112  double mu30 = momentCentered.get(3, 0);
113 
114  double Xg = momentGravity.getXg();
115  double Yg = momentGravity.getYg();
116 
117  double Avx, Avy, Avz, Awx, Awy;
118  double beta = (momentObject.getType() == vpMomentObject::DISCRETE) ? 2 : 5;
119 
120  double d = (mu20 - mu02) * (mu20 - mu02) + 4 * mu11 * mu11;
121  double DA = mu20 + mu02;
122  double DA_2 = DA * DA;
123  double mu11_2 = mu11 * mu11;
124 
125  Avx = mu11 * DA * A / d + (DA * mu02 + (0.5) * d - (0.5) * DA_2) * B / d;
126  Avy = (DA * mu02 - (0.5) * d - (.5) * DA_2) * A / d - B * mu11 * DA / d;
127 
128  Awx = (beta * (mu12 * (mu20 - mu02) + mu11 * (mu03 - mu21)) + Xg * (mu02 * (mu20 - mu02) - 2 * mu11_2) +
129  Yg * mu11 * (mu20 + mu02)) /
130  d;
131  Awy = (beta * (mu21 * (mu02 - mu20) + mu11 * (mu30 - mu12)) + Xg * mu11 * (mu20 + mu02) +
132  Yg * (mu20 * (mu02 - mu20) - 2 * mu11_2)) /
133  d;
134 
135  Avz = B * Awx - A * Awy;
136  interaction_matrices.resize(1);
137  interaction_matrices[0].resize(1, 6);
138 
139  int VX = 0;
140  int VY = 1;
141  int VZ = 2;
142  int WX = 3;
143  int WY = 4;
144  int WZ = 5;
145 
146  interaction_matrices[0][0][VX] = Avx;
147  interaction_matrices[0][0][VY] = Avy;
148  interaction_matrices[0][0][VZ] = Avz;
149 
150  interaction_matrices[0][0][WX] = Awx;
151  interaction_matrices[0][0][WY] = Awy;
152  interaction_matrices[0][0][WZ] = -1.;
153 }
154 
155 #endif // #ifdef VISP_MOMENTS_COMBINE_MATRICES
156 
157 vpColVector vpFeatureMomentAlpha::error(const vpBasicFeature &s_star, const unsigned int /* select */)
158 {
159  vpColVector e(0);
160  double err = s[0] - s_star[0];
161 
162  if (err < -M_PI)
163  err += 2 * M_PI;
164  if (err > M_PI)
165  err -= 2 * M_PI;
166 
167  vpColVector ecv(1);
168  ecv[0] = err;
169  e = vpColVector::stack(e, ecv);
170 
171  return e;
172 }
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.