Visual Servoing Platform version 3.5.0
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
87VISP_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
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}
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:493
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
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 char *type, bool &found) const
const std::vector< double > & get() const
This class defines shared methods/attributes for 2D moments.
Definition: vpMoment.h:111
const vpMomentObject & getObject() const
Definition: vpMoment.h:150
std::vector< double > values
Definition: vpMoment.h:118
vpMomentDatabase & getMoments() const
Definition: vpMoment.h:123