Visual Servoing Platform version 3.5.0
vpFeatureMomentCInvariant.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Implementation for all supported moment features.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
43#ifndef _vpFeatureMomentCInvariant_h_
44#define _vpFeatureMomentCInvariant_h_
45
46#include <visp3/visual_features/vpFeatureMoment.h>
47
48#ifdef VISP_MOMENTS_COMBINE_MATRICES
95class VISP_EXPORT vpFeatureMomentCInvariant : public vpFeatureMoment
96{
97public:
110 vpFeatureMomentCInvariant(vpMomentDatabase &moments, double A, double B, double C,
111 vpFeatureMomentDatabase *featureMoments = NULL)
112 : vpFeatureMoment(moments, A, B, C, featureMoments, 16)
113 {
114 }
115 void compute_interaction();
119 const char *momentName() const { return "vpMomentCInvariant"; }
123 const char *name() const { return "vpFeatureMomentCInvariant"; }
124
128 static unsigned int selectC1() { return 1 << 0; }
132 static unsigned int selectC2() { return 1 << 1; }
136 static unsigned int selectC3() { return 1 << 2; }
140 static unsigned int selectC4() { return 1 << 3; }
144 static unsigned int selectC5() { return 1 << 4; }
148 static unsigned int selectC6() { return 1 << 5; }
152 static unsigned int selectC7() { return 1 << 6; }
156 static unsigned int selectC8() { return 1 << 7; }
160 static unsigned int selectC9() { return 1 << 8; }
164 static unsigned int selectC10() { return 1 << 9; }
168 static unsigned int selectSx() { return 1 << 10; }
172 static unsigned int selectSy() { return 1 << 11; }
176 static unsigned int selectPx() { return 1 << 12; }
180 static unsigned int selectPy() { return 1 << 13; }
181};
182
183#else
184class vpMomentDatabase;
185
233{
234private:
235 std::vector<vpMatrix> LI;
236
237public:
250 vpFeatureMomentCInvariant(vpMomentDatabase &data_base, double A_, double B_, double C_,
251 vpFeatureMomentDatabase *featureMoments = NULL)
252 : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 16), LI(16)
253 {
254 }
255
256 void compute_interaction();
260 const char *momentName() const { return "vpMomentCInvariant"; }
264 const char *name() const { return "vpFeatureMomentCInvariant"; }
265
269 static unsigned int selectC1() { return 1 << 0; }
273 static unsigned int selectC2() { return 1 << 1; }
277 static unsigned int selectC3() { return 1 << 2; }
281 static unsigned int selectC4() { return 1 << 3; }
285 static unsigned int selectC5() { return 1 << 4; }
289 static unsigned int selectC6() { return 1 << 5; }
293 static unsigned int selectC7() { return 1 << 6; }
297 static unsigned int selectC8() { return 1 << 7; }
301 static unsigned int selectC9() { return 1 << 8; }
305 static unsigned int selectC10() { return 1 << 9; }
309 static unsigned int selectSx() { return 1 << 10; }
313 static unsigned int selectSy() { return 1 << 11; }
317 static unsigned int selectPx() { return 1 << 12; }
321 static unsigned int selectPy() { return 1 << 13; }
322
326 void printLsofInvariants(std::ostream &os) const;
327
328 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCInvariant &featcinv);
329};
330#endif
331#endif
Functionality computation for 2D rotation/translation/scale non-symmetric invariant moment feature....
vpFeatureMomentCInvariant(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
This class allows to register all feature moments (implemented in vpFeatureMoment....
This class defines shared system methods/attributes for 2D moment features but no functional code....
virtual const char * momentName() const =0
virtual const char * name() const =0
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMoment &featM)
virtual void compute_interaction(void)
This class allows to register all vpMoments so they can access each other according to their dependen...