Visual Servoing Platform  version 3.6.1 under development (2024-12-12)
vpMomentGravityCenterNormalized.cpp
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30  *
31  * Description:
32  * 2D normalized gravity center moment descriptor (usually described by the
33  *pair Xn,Yn)
34  *
35  * Authors:
36  * Filip Novotny
37  *
38 *****************************************************************************/
39 
40 #include <visp3/core/vpMomentAreaNormalized.h>
41 #include <visp3/core/vpMomentGravityCenter.h>
42 #include <visp3/core/vpMomentGravityCenterNormalized.h>
43 #include <visp3/core/vpMomentObject.h>
44 
45 BEGIN_VISP_NAMESPACE
51 {
52  bool found_moment_gravity;
53  bool found_moment_surface_normalized;
54 
55  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
56  getMoments().get("vpMomentAreaNormalized", found_moment_surface_normalized));
57  const vpMomentGravityCenter &momentGravity =
58  static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
59 
60  if (!found_moment_surface_normalized)
61  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
62  if (!found_moment_gravity)
63  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
64 
65  double Xn = momentGravity.get()[0] * momentSurfaceNormalized.get()[0];
66  double Yn = momentGravity.get()[1] * momentSurfaceNormalized.get()[0];
67 
68  values[0] = Xn;
69  values[1] = Yn;
70 }
71 
76 
83 {
84  os << (__FILE__) << std::endl;
85  bool found_moment_gravity;
86  bool found_moment_surface_normalized;
87 
88  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
89  getMoments().get("vpMomentAreaNormalized", found_moment_surface_normalized));
90  const vpMomentGravityCenter &momentGravity =
91  static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
92 
93  if (!found_moment_surface_normalized)
94  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
95  if (!found_moment_gravity)
96  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
97  os << "Xg = " << momentGravity.get()[0] << "\t"
98  << "Yg = " << momentGravity.get()[1] << std::endl;
99  os << "An = " << momentSurfaceNormalized.get()[0] << std::endl;
100 }
101 
105 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentGravityCenterNormalized &m)
106 {
107  os << (__FILE__) << std::endl;
108  os << "(Xn,Yn) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
109  return os;
110 }
111 END_VISP_NAMESPACE
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:614
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:74
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
const vpMoment & get(const std::string &moment_name, bool &found) const
Class describing 2D normalized gravity center moment.
Class describing 2D gravity center moment.
const std::vector< double > & get() const
std::vector< double > values
Definition: vpMoment.h:113
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:118
const std::vector< double > & get() const
Definition: vpMoment.h:150