Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
vpFeatureMomentDatabase.cpp
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30  *
31  * Description:
32  * Pseudo-database used to handle dependencies between moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <iostream>
40 #include <typeinfo>
41 #include <visp3/core/vpConfig.h>
42 #include <visp3/visual_features/vpFeatureMoment.h>
43 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
44 
51 void vpFeatureMomentDatabase::add(vpFeatureMoment &featureMoment, char *name)
52 {
53  featureMomentsDataBase.insert(std::pair<const char *, vpFeatureMoment *>((const char *)name, &featureMoment));
54 }
55 
64 vpFeatureMoment &vpFeatureMomentDatabase::get(const char *type, bool &found)
65 {
66  std::map<const char *, vpFeatureMoment *, vpFeatureMomentDatabase::cmp_str>::const_iterator it =
67  featureMomentsDataBase.find(type);
68 
69  found = (it != featureMomentsDataBase.end());
70  return *(it->second);
71 }
72 
80 void vpFeatureMomentDatabase::updateAll(double A, double B, double C)
81 {
82  std::map<const char *, vpFeatureMoment *, vpFeatureMomentDatabase::cmp_str>::const_iterator itr;
83 #ifdef VISP_HAVE_OPENMP
84  std::vector<vpFeatureMoment *> values;
85  values.reserve(featureMomentsDataBase.size());
86  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
87  values.push_back((*itr).second);
88  }
89 #pragma omp parallel for shared(A, B, C)
90  for (int i = 0; i < (int)values.size(); i++) {
91  unsigned int i_ = static_cast<unsigned int>(i);
92  values[i_]->update(A, B, C);
93  }
94 #else
95  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
96  (*itr).second->update(A, B, C);
97  }
98 #endif
99 }
100 
101 /*
102 std::ostream & operator<<(std::ostream & os, const vpFeatureMomentDatabase&
103 m){ std::map<const
104 char*,vpMoment*,vpFeatureMomentDatabase::cmp_str>::const_iterator itr; os <<
105 "{";
106 
107  for(itr = m.featureMoments.begin(); itr != m.featureMoments.end(); itr++){
108  os << (*itr).first << ": [" << *((*itr).second) << "],";
109  }
110  os << "}";
111 
112  return os;
113 }*/
This class defines shared system methods/attributes for 2D moment features but no functional code...
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
vpFeatureMoment & get(const char *type, bool &found)