Visual Servoing Platform  version 3.2.1 under development (2019-10-21) under development (2019-10-21)
vpFeatureMomentGravityCenterNormalized.cpp
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30  *
31  * Description:
32  * Implementation for all supported moment features.
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #ifdef VISP_MOMENTS_COMBINE_MATRICES
42 
43 #include <limits>
44 #include <vector>
45 
46 #include <visp3/core/vpMomentAreaNormalized.h>
47 #include <visp3/core/vpMomentCentered.h>
48 #include <visp3/core/vpMomentGravityCenter.h>
49 #include <visp3/core/vpMomentObject.h>
50 #include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>
51 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
52 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
53 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
54 
65 {
66  bool found_moment_gravity;
67  bool found_moment_surface_normalized;
68 
69  bool found_featuremoment_gravity;
70  bool found_featuremoment_surfacenormalized;
71 
72  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
73  moments.get("vpMomentAreaNormalized", found_moment_surface_normalized));
74  const vpMomentGravityCenter &momentGravity =
75  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
76  vpFeatureMomentGravityCenter &featureMomentGravity = (static_cast<vpFeatureMomentGravityCenter &>(
77  featureMomentsDataBase->get("vpFeatureMomentGravityCenter", found_featuremoment_gravity)));
78  vpFeatureMomentAreaNormalized featureMomentAreaNormalized = (static_cast<vpFeatureMomentAreaNormalized &>(
79  featureMomentsDataBase->get("vpFeatureMomentAreaNormalized", found_featuremoment_surfacenormalized)));
80 
81  if (!found_moment_surface_normalized)
82  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
83  if (!found_moment_gravity)
84  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
85 
86  if (!found_featuremoment_gravity)
87  throw vpException(vpException::notInitialized, "vpFeatureMomentGravityCenter not found");
88  if (!found_featuremoment_surfacenormalized)
89  throw vpException(vpException::notInitialized, "vpFeatureMomentAreaNormalized not found");
90 
91  interaction_matrices[0].resize(1, 6);
92  interaction_matrices[1].resize(1, 6);
93 
94  interaction_matrices[0] = momentGravity.get()[0] * featureMomentAreaNormalized.interaction(1) +
95  momentSurfaceNormalized.get()[0] * featureMomentGravity.interaction(1);
96  interaction_matrices[1] = momentGravity.get()[1] * featureMomentAreaNormalized.interaction(1) +
97  momentSurfaceNormalized.get()[0] * featureMomentGravity.interaction(2);
98 }
99 
100 #else
101 
102 #include <limits>
103 #include <vector>
104 
105 #include <visp3/core/vpMomentAreaNormalized.h>
106 #include <visp3/core/vpMomentCentered.h>
107 #include <visp3/core/vpMomentGravityCenter.h>
108 #include <visp3/core/vpMomentObject.h>
109 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
110 #include <visp3/visual_features/vpFeatureMomentGravityCenterNormalized.h>
111 
121 {
122 
123  bool found_moment_surface_normalized;
124  bool found_moment_gravity;
125  bool found_moment_centered;
126 
127  const vpMomentCentered &momentCentered =
128  static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered));
129  const vpMomentGravityCenter &momentGravity =
130  static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
131  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
132  moments.get("vpMomentAreaNormalized", found_moment_surface_normalized));
133 
134  if (!found_moment_surface_normalized)
135  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
136  if (!found_moment_gravity)
137  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
138  if (!found_moment_centered)
139  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
140 
141  const vpMomentObject &momentObject = moment->getObject();
142  interaction_matrices[0].resize(1, 6);
143  interaction_matrices[1].resize(1, 6);
144 
145  double n11 = momentCentered.get(1, 1) / momentObject.get(0, 0);
146  double n20 = momentCentered.get(2, 0) / momentObject.get(0, 0);
147  double n02 = momentCentered.get(0, 2) / momentObject.get(0, 0);
148  double n10 = momentCentered.get(1, 0) / momentObject.get(0, 0);
149  double n01 = momentCentered.get(0, 1) / momentObject.get(0, 0);
150  double n03 = momentCentered.get(0, 3) / momentObject.get(0, 0);
151 
152  double Xg = momentGravity.getXg();
153  double Yg = momentGravity.getYg();
154 
155  double An = momentSurfaceNormalized.get()[0];
156 
157  double Xn = An * Xg;
158  double Yn = An * Yg;
159 
160  double Xnvx, Xnvy, Xnvz, Xnwx, Xnwy;
161  double Ynvx, Ynvy, Ynvz, Ynwx, Ynwy;
162 
163  if (momentObject.getType() == vpMomentObject::DISCRETE) {
164  double a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
165 
166  double e11 = momentCentered.get(1, 1) / a;
167  double e12 = momentCentered.get(1, 2) / a;
168  double e21 = momentCentered.get(2, 1) / a;
169  double e30 = momentCentered.get(3, 0) / a;
170 
171  double NA = n20 + n02;
172 
173  Xnvx = B * Xn * e11 - Yn * B - An * C - n02 * A * Xn / NA;
174  Xnvy = A * Xn * e11 + n02 * B * Xn / NA;
175 
176  Xnwx = An * e11 * NA + Yn * n10 - Xn * Xg * e11 + Xn * n01 + Xn * n10 * e11 - Xn * e21 +
177  (-Xn * n03 + (Xn * n01 - Yn * Xg) * n02) / NA;
178  Xnwy = -An * NA + Xn * e12 + Xn * Xg - An + e11 * Xg * Yn - Xn * n01 * e11 - 2 * Xn * n10 + Xn * e30 + n02 * An +
179  (-Xn * Xg + Xn * n10) * n02 / NA;
180 
181  Ynvx = (Yn - n02 * Yn / NA) * A + Yn * e11 * B;
182  Ynvy = (-Xn + e11 * Yn) * A + (-Yn + n02 * Yn / NA) * B - An * C;
183 
184  Ynwx = n02 * An + Yn * n10 * e11 - e11 * Xg * Yn + An - Yn * e21 + Yn * n01 +
185  (-Yn * n03 + (Yn * n01 - Yn * Yg) * n02) / NA;
186  Ynwy = -An * e11 * NA + Yn * e11 * Yg - Yn * n01 * e11 + Yn * Xg + Yn * e12 + Yn * e30 - Xn * n01 - 2 * Yn * n10 +
187  (Yn * n10 - Yn * Xg) * n02 / NA;
188 
189  } else {
190  Xnvx = -An * C - A * Xn - Yn * B;
191  Xnvy = (0.5) * B * Xn;
192 
193  Xnwx = (0.5 * (8. * n10 - Xg)) * Yn + 4. * An * n11 + 4. * n01 * Xn;
194  Xnwy = (0.5 * (-2. - 8. * n20)) * An + (0.5) * Xn * (-8. * n10 + Xg);
195 
196  Ynvx = (0.5) * A * Yn;
197  Ynvy = -(0.5) * B * Yn - C * An - A * Xn;
198 
199  Ynwx = (0.5) * Yn * (8. * n01 - Yg) + (.5 * (2. + 8. * n02)) * An;
200  Ynwy = (0.5 * (-8. * n10 + Xg)) * Yn - 4. * An * n11 - 4. * n01 * Xn;
201  }
202 
203  Ynvz = -A * Ynwy + (-An + Ynwx) * B;
204  Xnvz = -A * An - A * Xnwy + B * Xnwx;
205 
206  int VX = 0;
207  int VY = 1;
208  int VZ = 2;
209  int WX = 3;
210  int WY = 4;
211  int WZ = 5;
212 
213  interaction_matrices[0][0][VX] = Xnvx;
214  interaction_matrices[0][0][VY] = Xnvy;
215  interaction_matrices[0][0][VZ] = Xnvz;
216 
217  interaction_matrices[0][0][WX] = Xnwx;
218  interaction_matrices[0][0][WY] = Xnwy;
219  interaction_matrices[0][0][WZ] = Yn;
220 
221  interaction_matrices[1][0][VX] = Ynvx;
222  interaction_matrices[1][0][VY] = Ynvy;
223  interaction_matrices[1][0][VZ] = Ynvz;
224 
225  interaction_matrices[1][0][WX] = Ynwx;
226  interaction_matrices[1][0][WY] = Ynwy;
227  interaction_matrices[1][0][WZ] = -Xn;
228 }
229 #endif
Class handling the normalized surface moment that is invariant in scale and used to estimate depth...
double get(unsigned int i, unsigned int j) const
const vpMoment * moment
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
const std::vector< double > & get() const
Definition: vpMoment.h:155
Functionality computation for normalized surface moment feature. Computes the interaction matrix asso...
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
const std::vector< double > & get() const
vpMomentDatabase & moments
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
vpObjectType getType() const
Class describing 2D gravity center moment.
vpFeatureMomentDatabase * featureMomentsDataBase
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
vpFeatureMoment & get(const char *type, bool &found)