Visual Servoing Platform version 3.5.0
vpMomentCommon.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Pre-filled moment database with all commonly used moments.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
42#ifndef VPCOMMONMOMENTS_H
43#define VPCOMMONMOMENTS_H
44
45#include <visp3/core/vpMomentAlpha.h>
46#include <visp3/core/vpMomentArea.h>
47#include <visp3/core/vpMomentAreaNormalized.h>
48#include <visp3/core/vpMomentBasic.h>
49#include <visp3/core/vpMomentCInvariant.h>
50#include <visp3/core/vpMomentCentered.h>
51#include <visp3/core/vpMomentDatabase.h>
52#include <visp3/core/vpMomentGravityCenter.h>
53#include <visp3/core/vpMomentGravityCenterNormalized.h>
54
55#include <vector>
56
57class vpMomentObject;
58
104class VISP_EXPORT vpMomentCommon : public vpMomentDatabase
105{
106private:
107 vpMomentBasic momentBasic;
108 vpMomentGravityCenter momentGravity;
109 vpMomentCentered momentCentered;
110 vpMomentGravityCenterNormalized momentGravityNormalized;
111 vpMomentAreaNormalized momentSurfaceNormalized;
112 vpMomentCInvariant *momentCInvariant;
113 vpMomentAlpha momentAlpha;
114 vpMomentArea momentArea;
115
116 // private:
117 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
118 // vpMomentCommon(const vpMomentCommon &)
119 // : vpMomentDatabase(), momentBasic(), momentGravity(),
120 // momentCentered(), momentGravityNormalized(),
121 // momentSurfaceNormalized(0, 0), momentCInvariant(), momentAlpha(),
122 // momentArea()
123 // {
124 // throw vpException(vpException::functionNotImplementedError, "Not
125 // implemented!");
126 // }
127 // vpMomentCommon &operator=(const vpMomentCommon &){
128 // throw vpException(vpException::functionNotImplementedError, "Not
129 // implemented!"); return *this;
130 // }
131 //#endif
132
133public:
134 vpMomentCommon(double dstSurface, const std::vector<double> &ref, double refAlpha, double dstZ = 1.0,
135 bool flg_sxsyfromnormalized = false);
136 virtual ~vpMomentCommon();
137
138 static double getAlpha(vpMomentObject &object);
139 static std::vector<double> getMu3(vpMomentObject &object);
140 static double getSurface(vpMomentObject &object);
141
142 void updateAll(vpMomentObject &object);
143};
144#endif // VPCOMMONMOMENTS_H
This class defines the orientation of the object inside the plane parallel to the object.
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
Class handling the surface moment.
Definition: vpMomentArea.h:63
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
Definition: vpMomentBasic.h:75
This class defines the double-indexed centered moment descriptor .
This class initializes and allows access to commonly used moments.
This class allows to register all vpMoments so they can access each other according to their dependen...
virtual void updateAll(vpMomentObject &object)
Class describing 2D normalized gravity center moment.
Class describing 2D gravity center moment.
Class for generic objects.