Visual Servoing Platform  version 3.6.1 under development (2024-10-13)
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 
40 BEGIN_VISP_NAMESPACE
47 void vpFeatureMomentDatabase::add(vpFeatureMoment &featureMoment, const std::string &name)
48 {
49  featureMomentsDataBase.insert(std::pair<const std::string, vpFeatureMoment *>(name, &featureMoment));
50 }
51 
60 vpFeatureMoment &vpFeatureMomentDatabase::get(const std::string &feature_name, bool &found)
61 {
62  std::map<const std::string, vpFeatureMoment *, vpFeatureMomentDatabase::vpCmpStr_t>::const_iterator it =
63  featureMomentsDataBase.find(feature_name);
64 
65  found = (it != featureMomentsDataBase.end());
66  return *(it->second);
67 }
68 
75 void vpFeatureMomentDatabase::updateAll(double A, double B, double C)
76 {
77  std::map<const std::string, vpFeatureMoment *, vpFeatureMomentDatabase::vpCmpStr_t>::const_iterator itr;
78 #ifdef VISP_HAVE_OPENMP
79  std::vector<vpFeatureMoment *> values;
80  values.reserve(featureMomentsDataBase.size());
81  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
82  values.push_back((*itr).second);
83  }
84 #pragma omp parallel for shared(A, B, C)
85  for (int i = 0; i < (int)values.size(); i++) {
86  unsigned int i_ = static_cast<unsigned int>(i);
87  values[i_]->update(A, B, C);
88  }
89 #else
90  for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
91  (*itr).second->update(A, B, C);
92  }
93 #endif
94 }
95 END_VISP_NAMESPACE
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....