Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
vpMomentAreaNormalized.cpp
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30  *
31  * Description:
32  * 2D normalized surface moment descriptor (usually described as An)
33  *
34  * Authors:
35  * Filip Novotny
36  *
37 *****************************************************************************/
38 #include <cmath>
39 #include <visp3/core/vpMomentAreaNormalized.h>
40 #include <visp3/core/vpMomentCentered.h>
41 #include <visp3/core/vpMomentDatabase.h>
42 #include <visp3/core/vpMomentObject.h>
43 
49 {
50  bool found_moment_centered;
51 
52  /* getMoments() returns a reference to a vpMomentDatabase. (a protected
53  * member inherited from vpMoment)
54  *.get() is a member function of vpMomentDatabase that returns
55  * a specific moment which is linked to it
56  * */
57  const vpMomentCentered &momentCentered =
58  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
59 
60  if (!found_moment_centered)
61  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
62 
63  double a;
64  /* getObject() returns a reference to the vpMomentObject from which
65  * the moment values are calculated. (public member of vpMoment)*/
66  if (getObject().getType() == vpMomentObject::DISCRETE)
67  a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
68  else
69  a = getObject().get(0, 0);
70 
71  values[0] = desiredDepth * sqrt(desiredSurface / a);
72 }
73 
80  : vpMoment(), desiredSurface(a_star), desiredDepth(Z_star)
81 {
82  values.resize(1);
83 }
84 
88 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAreaNormalized &m)
89 {
90  os << (__FILE__) << std::endl;
91  os << "An = " << m.values[0] << std::endl;
92  return os;
93 }
94 
103 void vpMomentAreaNormalized::printDependencies(std::ostream &os) const
104 {
105  os << (__FILE__) << std::endl;
106  os << "Desired depth Z* = " << desiredDepth << std::endl;
107  os << "Desired area m00* = " << desiredSurface << std::endl;
108 
109  bool found_moment_centered;
110  const vpMomentCentered &momentCentered =
111  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
112  if (!found_moment_centered)
113  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
114 
115  double a;
116  if (getObject().getType() == vpMomentObject::DISCRETE)
117  a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
118  else
119  a = getObject().get(0, 0);
120  os << "a = " << a << std::endl;
121 }
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:600
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:86
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
void printDependencies(std::ostream &os) const
vpMomentAreaNormalized(double a_star, double Z_star)
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const std::string &moment_name, bool &found) const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:105
std::vector< double > values
Definition: vpMoment.h:112
const vpMomentObject & getObject() const
Definition: vpMoment.h:144
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:117