Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpFeatureMomentDatabase.cpp
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29  *
30  * Description:
31  * Pseudo-database used to handle dependencies between moment features.
32  */
33 
34 #include <iostream>
35 #include <typeinfo>
36 #include <visp3/core/vpConfig.h>
37 #include <visp3/visual_features/vpFeatureMoment.h>
38 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
39 
46 void vpFeatureMomentDatabase::add(vpFeatureMoment &featureMoment, const std::string &name)
47 {
48  featureMomentsDataBase.insert(std::pair<const std::string, vpFeatureMoment *>(name, &featureMoment));
49 }
50 
59 vpFeatureMoment &vpFeatureMomentDatabase::get(const std::string &feature_name, bool &found)
60 {
61  std::map<const std::string, vpFeatureMoment *, vpFeatureMomentDatabase::vpCmpStr_t>::const_iterator it =
62  featureMomentsDataBase.find(feature_name);
63 
64  found = (it != featureMomentsDataBase.end());
65  return *(it->second);
66 }
67 
74 void vpFeatureMomentDatabase::updateAll(double A, double B, double C)
75 {
76  std::map<const std::string, vpFeatureMoment *, vpFeatureMomentDatabase::vpCmpStr_t>::const_iterator itr;
77 #ifdef VISP_HAVE_OPENMP
78  std::vector<vpFeatureMoment *> values;
79  values.reserve(featureMomentsDataBase.size());
80  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
81  values.push_back((*itr).second);
82  }
83 #pragma omp parallel for shared(A, B, C)
84  for (int i = 0; i < (int)values.size(); i++) {
85  unsigned int i_ = static_cast<unsigned int>(i);
86  values[i_]->update(A, B, C);
87  }
88 #else
89  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
90  (*itr).second->update(A, B, C);
91  }
92 #endif
93 }
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
vpFeatureMoment & get(const std::string &feature_name, bool &found)
This class defines shared system methods/attributes for 2D moment features but no functional code....