Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpFeatureMoment.cpp
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30  *
31  * Description:
32  * Base for all moment features
33  *
34  * Authors:
35  * Filip Novotny
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpMath.h>
40 #include <visp3/core/vpMoment.h>
41 #include <visp3/core/vpMomentDatabase.h>
42 #include <visp3/visual_features/vpFeatureMoment.h>
43 #include <visp3/visual_features/vpFeatureMomentDatabase.h>
44 
45 #include <visp3/core/vpException.h>
46 #include <visp3/visual_features/vpFeatureException.h>
47 
48 #include <vector>
49 #include <visp3/core/vpDebug.h>
50 
51 class vpBasicFeature;
52 
57 {
58  // feature dimension
59  /*
60  * The dimension of the visual feature is set according to the size of the
61  * vpMoment associated to it. This partly explains why vpFeatureMomentBasic
62  * cannot be used directly as a visual feature.
63  */
64  if (this->moment != NULL)
65  dim_s = (unsigned int)this->moment->get().size();
66  else
67  dim_s = 0;
68 
69  nbParameters = 1;
70 
71  // memory allocation
72  s.resize(dim_s);
73  for (unsigned int i = 0; i < dim_s; i++)
74  s[i] = 0;
75 
76  if (flags == NULL)
77  flags = new bool[nbParameters];
78  for (unsigned int i = 0; i < nbParameters; i++)
79  flags[i] = false;
80 }
81 
85 int vpFeatureMoment::getDimension(unsigned int select) const
86 {
87  int dim = 0;
88 
89  for (unsigned int i = 0; i < dim_s; ++i)
90  if (vpBasicFeature::FEATURE_LINE[i] & select)
91  dim++;
92 
93  return dim;
94 }
95 
99 void vpFeatureMoment::print(unsigned int select) const
100 {
101  for (unsigned int i = 0; i < dim_s; ++i) {
102  if (vpBasicFeature::FEATURE_LINE[i] & select) {
103  std::cout << s[i] << ",";
104  }
105  }
106 
107  std::cout << std::endl;
108 }
109 
115  unsigned int thickness) const
116 {
117  // visual representation of a moment doesn't often make sense
118  (void)cam;
119  (void)I;
120  (void)color;
121  (void)thickness;
122 }
123 
128 void vpFeatureMoment::display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color,
129  unsigned int thickness) const
130 {
131  (void)cam;
132  (void)I;
133  (void)color;
134  (void)thickness;
135 }
136 
153 void vpFeatureMoment::update(double A_, double B_, double C_)
154 {
155  this->A = A_;
156  this->B = B_;
157  this->C = C_;
158 
159  if (moment == NULL) {
160  bool found;
161  this->moment = &(moments.get(momentName(), found));
162  if (!found)
163  throw vpException(vpException::notInitialized, "Moment not found for feature");
164  }
165  nbParameters = 1;
166  if (this->moment != NULL) {
167  dim_s = (unsigned int)this->moment->get().size();
168 
169  s.resize(dim_s);
170 
171  for (unsigned int i = 0; i < dim_s; i++)
172  s[i] = this->moment->get()[i];
173 
174  if (flags == NULL)
175  flags = new bool[nbParameters];
176  for (unsigned int i = 0; i < nbParameters; i++)
177  flags[i] = false;
178  } else
179  dim_s = 0;
180 
182 }
183 
200 {
201  vpMatrix L(0, 0);
202 
203  for (unsigned int i = 0; i < dim_s; ++i) {
204  if (vpBasicFeature::FEATURE_LINE[i] & select) {
206  }
207  }
208 
209  return L;
210 }
211 
221 {
224  feat->dim_s = dim_s;
225  feat->nbParameters = nbParameters;
226  // memory allocation
227  feat->s.resize(dim_s);
228  for (unsigned int i = 0; i < dim_s; i++)
229  feat->s[i] = this->s[i];
230 
231  feat->flags = new bool[(unsigned int)nbParameters];
232  for (unsigned int i = 0; i < (unsigned int)nbParameters; i++)
233  feat->flags[i] = flags[i];
234 
235  return feat;
236 }
237 
245 {
246  if (strlen(name()) >= 255) {
247  throw(vpException(vpException::memoryAllocationError, "Not enough memory to intialize the moment name"));
248  }
249 
250  std::strcpy(_name, name());
251  this->featureMomentsDataBase = &featureMoments;
252 
253  featureMoments.add(*this, _name);
254 }
255 
257 
259 
260 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMoment &featM)
261 {
262  /*
263  A const_cast is forced here since interaction() defined in vpBasicFeature()
264  is not const But introducing const in vpBasicFeature() can break a lot of
265  client code
266  */
267  vpMatrix Lcomplete((unsigned int)featM.getDimension(),
268  6); // 6 corresponds to 6velocities in standard interaction matrix
269  Lcomplete = const_cast<vpFeatureMoment &>(featM).interaction(vpBasicFeature::FEATURE_ALL);
270  Lcomplete.matlabPrint(os);
271  return os;
272 }
273 
281 void vpFeatureMoment::printDependencies(std::ostream &os) const
282 {
283  os << " WARNING : Falling back to base class version of "
284  "printDependencies() in vpFeatureMoment. To prevent that, this has "
285  "to be implemented in the derived classes!"
286  << std::endl;
287 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual const char * name() const =0
const std::vector< double > & get() const
Definition: vpMoment.h:155
const vpMoment * moment
virtual void compute_interaction(void)
void linkTo(vpFeatureMomentDatabase &featureMoments)
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
void stack(const vpMatrix &A)
Definition: vpMatrix.cpp:4551
vpBasicFeature * duplicate() const
unsigned int dim_s
Dimension of the visual feature.
error that can be emited by ViSP classes.
Definition: vpException.h:71
std::vector< vpMatrix > interaction_matrices
int getDimension(unsigned int select=FEATURE_ALL) const
This class defines a generic feature used for moment feature duplication.
virtual ~vpFeatureMoment()
virtual const char * momentName() const =0
class that defines what is a visual feature
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
This class defines shared system methods/attributes for 2D moment features but no functional code...
void print(const unsigned int select=FEATURE_ALL) const
Memory allocation error.
Definition: vpException.h:88
Generic class defining intrinsic camera parameters.
const vpMoment & get(const char *type, bool &found) const
vpMomentDatabase & moments
void update(double A, double B, double C)
static const unsigned int FEATURE_LINE[32]
vpFeatureMomentDatabase * featureMomentsDataBase
virtual void printDependencies(std::ostream &os) 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
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector s
State of the visual feature.
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpColVector.h:310