Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpFeatureMomentCentered.cpp
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30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  * Manikandan Bakthavatchalam
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #include <limits>
42 #include <vector>
43 
44 #include <visp3/core/vpMomentCentered.h>
45 #include <visp3/core/vpMomentGravityCenter.h>
46 #include <visp3/core/vpMomentObject.h>
47 #include <visp3/visual_features/vpFeatureMomentBasic.h>
48 #include <visp3/visual_features/vpFeatureMomentCentered.h>
49 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
50 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
51 
61 vpFeatureMomentCentered::vpFeatureMomentCentered(vpMomentDatabase &moments_, double A_, double B_, double C_,
62  vpFeatureMomentDatabase *featureMoments)
63  : vpFeatureMoment(moments_, A_, B_, C_, featureMoments), order(0)
64 {
65 }
66 
73 vpMatrix vpFeatureMomentCentered::interaction(unsigned int select_one, unsigned int select_two) const
74 {
75  if (select_one + select_two > moment->getObject().getOrder())
76  throw vpException(vpException::badValue, "The requested value has not "
77  "been computed, you should "
78  "specify a higher order.");
79  return interaction_matrices[select_two * order + select_one];
80 }
81 
87 vpMatrix vpFeatureMomentCentered::compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg,
88  const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg,
89  const vpMomentBasic &m,
90  const vpFeatureMomentBasic &feature_moment_m) const
91 {
92  // term1, term2 and Lterm3 (matrix) will be repeatedly computed inside the
93  // innermost loop
94  double term1 = 0.0;
95  double term2 = 0.0;
96  vpMatrix Lterm3(1, 6);
97 
98  double qcombl = 0.0;
99  double pcombkqcombl = 0.0;
100 
101  double mkl = 0.0;
102  vpMatrix L_mkl;
103 
104  int qml = 0; // q-l
105  double minus1pow = 0.; // (-1)^(p+q-k-l)
106  double pintom = 0.;
107 
108  for (unsigned int k = 0; k <= p; ++k) {
109  int pmk = (int)p - (int)k;
110  double pcombk = static_cast<double>(vpMath::comb(p, k));
111  for (unsigned int l = 0; l <= q; ++l) {
112  qml = (int)q - (int)l;
113  qcombl = static_cast<double>(vpMath::comb(q, l));
114  minus1pow = pow((double)-1, (double)(pmk + qml));
115  pcombkqcombl = pcombk * qcombl;
116  mkl = m.get(k, l);
117  pintom = pcombkqcombl * mkl;
118  L_mkl = feature_moment_m.interaction(k, l);
119  if (pmk > 0)
120  term1 += pintom * pmk * pow(xg, pmk - 1) * pow(yg, qml) * minus1pow;
121  if (qml > 0)
122  term2 += pintom * qml * pow(xg, pmk) * pow(yg, qml - 1) * minus1pow;
123  Lterm3 += pcombkqcombl * pow(xg, pmk) * pow(yg, qml) * L_mkl * minus1pow;
124  }
125  }
126 
127  // L_xg and L_yg stay constant with respect to the above loops. Lterm3 is
128  // summed over
129  vpMatrix L_mupq = L_xg * term1 + L_yg * term2 + Lterm3;
130  return L_mupq;
131 }
132 
145 {
146 #ifdef VISP_MOMENTS_COMBINE_MATRICES
147  const vpMomentObject &momentObject = moment->getObject();
148  order = momentObject.getOrder() + 1;
149  interaction_matrices.resize(order * order);
150  for (std::vector<vpMatrix>::iterator i = interaction_matrices.begin(); i != interaction_matrices.end(); ++i)
151  i->resize(1, 6);
152 
153  bool found_moment_gravity;
154  const vpMomentGravityCenter &momentGravity =
155  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
156  if (!found_moment_gravity)
157  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
158  double xg = momentGravity.get()[0];
159  double yg = momentGravity.get()[1];
160 
161  bool found_feature_gravity_center;
162  vpFeatureMomentGravityCenter &featureMomentGravityCenter = (static_cast<vpFeatureMomentGravityCenter &>(
163  featureMomentsDataBase->get("vpFeatureMomentGravityCenter", found_feature_gravity_center)));
164  if (!found_feature_gravity_center)
165  throw vpException(vpException::notInitialized, "vpFeatureMomentGravityCenter not found");
166  vpMatrix Lxg = featureMomentGravityCenter.interaction(1 << 0);
167  vpMatrix Lyg = featureMomentGravityCenter.interaction(1 << 1);
168 
169  bool found_moment_basic;
170  const vpMomentBasic &momentbasic =
171  static_cast<const vpMomentBasic &>(moments.get("vpMomentBasic", found_moment_basic));
172  if (!found_moment_basic)
173  throw vpException(vpException::notInitialized, "vpMomentBasic not found");
174 
175  bool found_featuremoment_basic;
176  vpFeatureMomentBasic &featureMomentBasic = (static_cast<vpFeatureMomentBasic &>(
177  featureMomentsDataBase->get("vpFeatureMomentBasic", found_featuremoment_basic)));
178  if (!found_featuremoment_basic)
179  throw vpException(vpException::notInitialized, "vpFeatureMomentBasic not found");
180 
181  // Calls the main compute_Lmu_pq function for moments upto order-1
182  for (int i = 0; i < (int)order - 1; i++) {
183  for (int j = 0; j < (int)order - 1 - i; j++) {
184  interaction_matrices[(unsigned int)j * order + (unsigned int)i] =
185  compute_Lmu_pq(i, j, xg, yg, Lxg, Lyg, momentbasic, featureMomentBasic);
186  }
187  }
188 #else // #ifdef VISP_MOMENTS_COMBINE_MATRICES
189  bool found_moment_centered;
190  bool found_moment_gravity;
191 
192  const vpMomentCentered &momentCentered =
193  (static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered)));
194  const vpMomentGravityCenter &momentGravity =
195  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
196 
197  if (!found_moment_centered)
198  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
199  if (!found_moment_gravity)
200  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
201 
202  int delta;
203  int epsilon;
204  const vpMomentObject &momentObject = moment->getObject();
205  order = momentObject.getOrder() + 1;
206  interaction_matrices.resize(order * order);
207  for (std::vector<vpMatrix>::iterator i = interaction_matrices.begin(); i != interaction_matrices.end(); ++i)
208  i->resize(1, 6);
209  if (momentObject.getType() == vpMomentObject::DISCRETE) {
210  delta = 0;
211  epsilon = 1;
212  } else {
213  delta = 1;
214  epsilon = 4;
215  }
216  double n11 = momentCentered.get(1, 1) / momentObject.get(0, 0);
217  double n20 = momentCentered.get(2, 0) / momentObject.get(0, 0);
218  double n02 = momentCentered.get(0, 2) / momentObject.get(0, 0);
219  double Xg = momentGravity.getXg();
220  double Yg = momentGravity.getYg();
221  double mu00 = momentCentered.get(0, 0);
222 
223  unsigned int VX = 0;
224  unsigned int VY = 1;
225  unsigned int VZ = 2;
226  unsigned int WX = 3;
227  unsigned int WY = 4;
228  unsigned int WZ = 5;
229 
230  interaction_matrices[0][0][VX] = -(delta)*A * mu00;
231  interaction_matrices[0][0][VY] = -(delta)*B * mu00;
232 
233  // Since mu10=0 and mu01=0
234  // interaction_matrices[0][0][WX] = (3*delta)*MU(0,1)+(3*delta)*Yg*mu00;
235  // interaction_matrices[0][0][WY] = -(3*delta)*MU(1,0)-(3*delta)*Xg*mu00;
236  // we get the simplification:
237  interaction_matrices[0][0][WX] = (3 * delta) * Yg * mu00;
238  interaction_matrices[0][0][WY] = -(3 * delta) * Xg * mu00;
239  interaction_matrices[0][0][VZ] =
240  -A * interaction_matrices[0][0][WY] + B * interaction_matrices[0][0][WX] + (2 * delta) * C * mu00;
241  interaction_matrices[0][0][WZ] = 0.;
242 
243  for (int i = 1; i < (int)order - 1; i++) {
244  unsigned int i_ = (unsigned int)i;
245  unsigned int im1_ = i_ - 1;
246  unsigned int ip1_ = i_ + 1;
247 
248  double mu_im10 = momentCentered.get(im1_, 0);
249  double mu_ip10 = momentCentered.get(ip1_, 0);
250  double mu_im11 = momentCentered.get(im1_, 1);
251  double mu_i0 = momentCentered.get(i_, 0);
252  double mu_i1 = momentCentered.get(i_, 1);
253 
254  interaction_matrices[i_][0][VX] = -(i + delta) * A * mu_i0 - (i * B * mu_im11);
255  interaction_matrices[i_][0][VY] = -(delta)*B * mu_i0;
256 
257  interaction_matrices[i_][0][WX] =
258  (i + 3 * delta) * mu_i1 + (i + 3 * delta) * Yg * mu_i0 + i * Xg * mu_im11 - i * epsilon * n11 * mu_im10;
259  interaction_matrices[i_][0][WY] =
260  -(i + 3 * delta) * mu_ip10 - (2 * i + 3 * delta) * Xg * mu_i0 + i * epsilon * n20 * mu_im10;
261  interaction_matrices[i_][0][VZ] =
262  -A * interaction_matrices[i_][0][WY] + B * interaction_matrices[i_][0][WX] + (i + 2 * delta) * C * mu_i0;
263  interaction_matrices[i_][0][WZ] = i * mu_im11;
264  }
265 
266  for (int j = 1; j < (int)order - 1; j++) {
267  unsigned int j_ = (unsigned int)j;
268  unsigned int jm1_ = j_ - 1;
269  unsigned int jp1_ = j_ + 1;
270 
271  double mu_0jm1 = momentCentered.get(0, jm1_);
272  double mu_0jp1 = momentCentered.get(0, jp1_);
273  double mu_1jm1 = momentCentered.get(1, jm1_);
274  double mu_0j = momentCentered.get(0, j_);
275  double mu_1j = momentCentered.get(1, j_);
276 
277  interaction_matrices[j_ * order][0][VX] = -(delta)*A * mu_0j;
278  interaction_matrices[j_ * order][0][VY] = -j * A * mu_1jm1 - (j + delta) * B * mu_0j;
279 
280  interaction_matrices[j_ * order][0][WX] =
281  (j + 3 * delta) * mu_0jp1 + (2 * j + 3 * delta) * Yg * mu_0j - j * epsilon * n02 * mu_0jm1;
282  interaction_matrices[j_ * order][0][WY] =
283  -(j + 3 * delta) * mu_1j - (j + 3 * delta) * Xg * mu_0j - j * Yg * mu_1jm1 + j * epsilon * n11 * mu_0jm1;
284  interaction_matrices[j_ * order][0][VZ] = -A * interaction_matrices[j_ * order][0][WY] +
285  B * interaction_matrices[j_ * order][0][WX] + (j + 2 * delta) * C * mu_0j;
286  interaction_matrices[j_ * order][0][WZ] = -j * mu_1jm1;
287  }
288 
289  for (int j = 1; j < (int)order - 1; j++) {
290  unsigned int j_ = (unsigned int)j;
291  unsigned int jm1_ = j_ - 1;
292  unsigned int jp1_ = j_ + 1;
293  for (int i = 1; i < (int)order - j - 1; i++) {
294  unsigned int i_ = (unsigned int)i;
295  unsigned int im1_ = i_ - 1;
296  unsigned int ip1_ = i_ + 1;
297 
298  double mu_ijm1 = momentCentered.get(i_, jm1_);
299  double mu_ij = momentCentered.get(i_, j_);
300  double mu_ijp1 = momentCentered.get(i_, jp1_);
301  double mu_im1j = momentCentered.get(im1_, j_);
302  double mu_im1jp1 = momentCentered.get(im1_, jp1_);
303  double mu_ip1jm1 = momentCentered.get(ip1_, jm1_);
304  double mu_ip1j = momentCentered.get(ip1_, j_);
305 
306  interaction_matrices[j_ * order + i_][0][VX] = -(i + delta) * A * mu_ij - i * B * mu_im1jp1;
307  interaction_matrices[j_ * order + i_][0][VY] = -j * A * mu_ip1jm1 - (j + delta) * B * mu_ij;
308 
309  interaction_matrices[j_ * order + i_][0][WX] = (i + j + 3 * delta) * mu_ijp1 +
310  (i + 2 * j + 3 * delta) * Yg * mu_ij + i * Xg * mu_im1jp1 -
311  i * epsilon * n11 * mu_im1j - j * epsilon * n02 * mu_ijm1;
312  interaction_matrices[j_ * order + i_][0][WY] = -(i + j + 3 * delta) * mu_ip1j -
313  (2 * i + j + 3 * delta) * Xg * mu_ij - j * Yg * mu_ip1jm1 +
314  i * epsilon * n20 * mu_im1j + j * epsilon * n11 * mu_ijm1;
315  interaction_matrices[j_ * order + i_][0][VZ] = -A * interaction_matrices[j_ * order + i_][0][WY] +
316  B * interaction_matrices[j_ * order + i_][0][WX] +
317  (i + j + 2 * delta) * C * mu_ij;
318  interaction_matrices[j_ * order + i_][0][WZ] = i * mu_im1jp1 - j * mu_ip1jm1;
319  }
320  }
321 #endif // #ifdef VISP_MOMENTS_COMBINE_MATRICES
322 }
323 
328 std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &mu)
329 {
330  vpTRACE(" << Ls - CENTRED MOMENTS >>");
331  unsigned int order_m_1 = (unsigned int)(mu.order - 1);
332  for (unsigned int i = 0; i < order_m_1; i++) {
333  for (unsigned int j = 0; j < order_m_1 - i; j++) {
334  os << "L_mu[" << i << "," << j << "] = ";
335  mu.interaction(i, j).matlabPrint(os);
336  }
337  }
338  return os;
339 }
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C, vpFeatureMomentDatabase *featureMoments=NULL)
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:74
const vpMoment * moment
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMomentCentered &v)
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
error that can be emited by ViSP classes.
Definition: vpException.h:71
Class for generic objects.
const std::vector< double > & get() const
const std::vector< double > & get() const
std::vector< vpMatrix > interaction_matrices
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
This class allows to register all vpMoments so they can access each other according to their dependen...
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
#define vpTRACE
Definition: vpDebug.h:416
This class defines shared system methods/attributes for 2D moment features but no functional code...
const vpMoment & get(const char *type, bool &found) const
vpMomentDatabase & moments
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
Class describing 2D gravity center moment.
vpObjectType getType() const
const std::vector< double > & get() const
vpFeatureMomentDatabase * featureMomentsDataBase
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:226
vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m, const vpFeatureMomentBasic &feature_moment_m) const
std::ostream & matlabPrint(std::ostream &os) const
Definition: vpMatrix.cpp:4393
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
vpFeatureMoment & get(const char *type, bool &found)
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.
unsigned int getOrder() const