Visual Servoing Platform version 3.6.0
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vpMomentGravityCenterNormalized.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 * 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
79VISP_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}
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
Class handling the normalized surface moment that is invariant in scale and used to estimate depth.
const vpMoment & get(const char *type, bool &found) const
Class describing 2D normalized gravity center moment.
Class describing 2D gravity center moment.
const std::vector< double > & get() const
std::vector< double > values
Definition vpMoment.h:113
vpMomentDatabase & getMoments() const
Definition vpMoment.h:118
const std::vector< double > & get() const
Definition vpMoment.h:150