Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
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  const vpMomentCentered &momentCentered =
57  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
58 
59  if (!found_moment_centered)
60  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
61 
62  double a;
63  /* getObject() returns a reference to the vpMomentObject from which
64  * the moment values are calculated. (public member of vpMoment)*/
65  if (getObject().getType() == vpMomentObject::DISCRETE)
66  a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
67  else
68  a = getObject().get(0, 0);
69 
70  values[0] = desiredDepth * sqrt(desiredSurface / a);
71 }
72 
79  : vpMoment(), desiredSurface(a_star), desiredDepth(Z_star)
80 {
81  values.resize(1);
82 }
83 
87 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentAreaNormalized &m)
88 {
89  os << (__FILE__) << std::endl;
90  os << "An = " << m.values[0] << std::endl;
91  return os;
92 }
93 
102 void vpMomentAreaNormalized::printDependencies(std::ostream &os) const
103 {
104  os << (__FILE__) << std::endl;
105  os << "Desired depth Z* = " << desiredDepth << std::endl;
106  os << "Desired area m00* = " << desiredSurface << std::endl;
107 
108  bool found_moment_centered;
109  const vpMomentCentered &momentCentered =
110  static_cast<const vpMomentCentered &>(getMoments().get("vpMomentCentered", found_moment_centered));
111  if (!found_moment_centered)
112  throw vpException(vpException::notInitialized, "vpMomentCentered not found");
113 
114  double a;
115  if (getObject().getType() == vpMomentObject::DISCRETE)
116  a = momentCentered.get(2, 0) + momentCentered.get(0, 2);
117  else
118  a = getObject().get(0, 0);
119  os << "a = " << a << std::endl;
120 }
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
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentAreaNormalized &v)
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:110
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
void printDependencies(std::ostream &os) const
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123
vpMomentAreaNormalized(double a_star, double Z_star)
std::vector< double > values
Definition: vpMoment.h:118