Visual Servoing Platform version 3.6.0
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vpFeatureMoment.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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
8 * the Free Software Foundation; either version 2 of the License, or
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 https://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
24 *
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 * Base for all moment features
33 *
34 * Authors:
35 * Filip Novotny
36 *
37*****************************************************************************/
38
39#include <visp3/core/vpMath.h>
40#include <visp3/core/vpMoment.h>
41#include <visp3/core/vpMomentDatabase.h>
42#include <visp3/visual_features/vpFeatureMoment.h>
43#include <visp3/visual_features/vpFeatureMomentDatabase.h>
44
45#include <visp3/core/vpException.h>
46#include <visp3/visual_features/vpFeatureException.h>
47
48#include <vector>
49#include <visp3/core/vpDebug.h>
50
51class vpBasicFeature;
52
57{
58 // feature dimension
59 /*
60 * The dimension of the visual feature is set according to the size of the
61 * vpMoment associated to it. This partly explains why vpFeatureMomentBasic
62 * cannot be used directly as a visual feature.
63 */
64 if (this->moment != NULL)
65 dim_s = (unsigned int)this->moment->get().size();
66 else
67 dim_s = 0;
68
69 nbParameters = 1;
70
71 // memory allocation
72 s.resize(dim_s);
73 for (unsigned int i = 0; i < dim_s; i++)
74 s[i] = 0;
75
76 if (flags == NULL)
77 flags = new bool[nbParameters];
78 for (unsigned int i = 0; i < nbParameters; i++)
79 flags[i] = false;
80}
81
85int vpFeatureMoment::getDimension(unsigned int select) const
86{
87 int dim = 0;
88
89 for (unsigned int i = 0; i < dim_s; ++i)
90 if (vpBasicFeature::FEATURE_LINE[i] & select)
91 dim++;
92
93 return dim;
94}
95
99void vpFeatureMoment::print(unsigned int select) const
100{
101 for (unsigned int i = 0; i < dim_s; ++i) {
102 if (vpBasicFeature::FEATURE_LINE[i] & select) {
103 std::cout << s[i] << ",";
104 }
105 }
106
107 std::cout << std::endl;
108}
109
115 unsigned int thickness) const
116{
117 // visual representation of a moment doesn't often make sense
118 (void)cam;
119 (void)I;
120 (void)color;
121 (void)thickness;
122}
123
129 unsigned int thickness) const
130{
131 (void)cam;
132 (void)I;
133 (void)color;
134 (void)thickness;
135}
136
153void vpFeatureMoment::update(double A_, double B_, double C_)
154{
155 this->A = A_;
156 this->B = B_;
157 this->C = C_;
158
159 if (moment == NULL) {
160 bool found;
161 this->moment = &(moments.get(momentName(), found));
162 if (!found)
163 throw vpException(vpException::notInitialized, "Moment not found for feature");
164 }
165 nbParameters = 1;
166 if (this->moment != NULL) {
167 dim_s = (unsigned int)this->moment->get().size();
168
169 s.resize(dim_s);
170
171 for (unsigned int i = 0; i < dim_s; i++)
172 s[i] = this->moment->get()[i];
173
174 if (flags == NULL)
175 flags = new bool[nbParameters];
176 for (unsigned int i = 0; i < nbParameters; i++)
177 flags[i] = false;
178 } else
179 dim_s = 0;
180
182}
183
200{
201 vpMatrix L(0, 0);
202
203 for (unsigned int i = 0; i < dim_s; ++i) {
204 if (vpBasicFeature::FEATURE_LINE[i] & select) {
205 L.stack(interaction_matrices[i]);
206 }
207 }
208
209 return L;
210}
211
221{
224 feat->dim_s = dim_s;
226 // memory allocation
227 feat->s.resize(dim_s);
228 for (unsigned int i = 0; i < dim_s; i++)
229 feat->s[i] = this->s[i];
230
231 feat->flags = new bool[(unsigned int)nbParameters];
232 for (unsigned int i = 0; i < (unsigned int)nbParameters; i++)
233 feat->flags[i] = flags[i];
234
235 return feat;
236}
237
245{
246 if (strlen(name()) >= 255) {
247 throw(vpException(vpException::memoryAllocationError, "Not enough memory to initialize the moment name"));
248 }
249
250 std::strcpy(_name, name());
251 this->featureMomentsDataBase = &featureMoments;
252
253 featureMoments.add(*this, _name);
254}
255
257
259
260VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMoment &featM)
261{
262 /*
263 A const_cast is forced here since interaction() defined in vpBasicFeature()
264 is not const But introducing const in vpBasicFeature() can break a lot of
265 client code
266 */
267 vpMatrix Lcomplete((unsigned int)featM.getDimension(),
268 6); // 6 corresponds to 6velocities in standard interaction matrix
269 Lcomplete = const_cast<vpFeatureMoment &>(featM).interaction(vpBasicFeature::FEATURE_ALL);
270 Lcomplete.matlabPrint(os);
271 return os;
272}
273
281void vpFeatureMoment::printDependencies(std::ostream &os) const
282{
283 os << " WARNING : Falling back to base class version of "
284 "printDependencies() in vpFeatureMoment. To prevent that, this has "
285 "to be implemented in the derived classes!"
286 << std::endl;
287}
class that defines what is a visual feature
vpColVector s
State of the visual feature.
static const unsigned int FEATURE_LINE[32]
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
unsigned int dim_s
Dimension of the visual feature.
Generic class defining intrinsic camera parameters.
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
@ memoryAllocationError
Memory allocation error.
Definition vpException.h:76
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....
vpBasicFeature * duplicate() const
virtual void printDependencies(std::ostream &os) const
std::vector< vpMatrix > interaction_matrices
virtual const char * momentName() const =0
vpFeatureMomentDatabase * featureMomentsDataBase
virtual const char * name() const =0
vpMomentDatabase & moments
void print(unsigned int select=FEATURE_ALL) const
vpMatrix interaction(unsigned int select=FEATURE_ALL)
int getDimension(unsigned int select=FEATURE_ALL) const
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
const vpMoment * moment
void update(double A, double B, double C)
virtual void compute_interaction(void)
void linkTo(vpFeatureMomentDatabase &featureMoments)
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
std::ostream & matlabPrint(std::ostream &os) const
const vpMoment & get(const char *type, bool &found) const
This class defines a generic feature used for moment feature duplication.
const std::vector< double > & get() const
Definition vpMoment.h:150