Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
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 
50 {
51  bool found_moment_gravity;
52  bool found_moment_surface_normalized;
53 
54  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
55  getMoments().get("vpMomentAreaNormalized", found_moment_surface_normalized));
56  const vpMomentGravityCenter &momentGravity =
57  static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
58 
59  if (!found_moment_surface_normalized)
60  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
61  if (!found_moment_gravity)
62  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
63 
64  double Xn = momentGravity.get()[0] * momentSurfaceNormalized.get()[0];
65  double Yn = momentGravity.get()[1] * momentSurfaceNormalized.get()[0];
66 
67  values[0] = Xn;
68  values[1] = Yn;
69 }
70 
75 
79 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentGravityCenterNormalized &m)
80 {
81  os << (__FILE__) << std::endl;
82  os << "(Xn,Yn) = (" << m.values[0] << ", " << m.values[1] << ")" << std::endl;
83  return os;
84 }
85 
92 {
93  os << (__FILE__) << std::endl;
94  bool found_moment_gravity;
95  bool found_moment_surface_normalized;
96 
97  const vpMomentAreaNormalized &momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized &>(
98  getMoments().get("vpMomentAreaNormalized", found_moment_surface_normalized));
99  const vpMomentGravityCenter &momentGravity =
100  static_cast<const vpMomentGravityCenter &>(getMoments().get("vpMomentGravityCenter", found_moment_gravity));
101 
102  if (!found_moment_surface_normalized)
103  throw vpException(vpException::notInitialized, "vpMomentAreaNormalized not found");
104  if (!found_moment_gravity)
105  throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
106  os << "Xg = " << momentGravity.get()[0] << "\t"
107  << "Yg = " << momentGravity.get()[1] << std::endl;
108  os << "An = " << momentSurfaceNormalized.get()[0] << std::endl;
109 }
Class handling the normalized surface moment that is invariant in scale and used to estimate depth...
Class describing 2D normalized gravity center moment.
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
const std::vector< double > & get() const
Definition: vpMoment.h:155
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpMomentGravityCenterNormalized &v)
const std::vector< double > & get() const
Class describing 2D gravity center moment.
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123
std::vector< double > values
Definition: vpMoment.h:118