#include <vpMomentArea.h>

Inheritance diagram for vpMomentArea:

Public Member Functions
	vpMomentArea ()
Inherited functionalities from vpMoment
const vpMomentObject &	getObject () const
const std::vector< double > &	get () const
void	linkTo (vpMomentDatabase &moments)
void	update (vpMomentObject &object)

Protected Member Functions
vpMomentDatabase &	getMoments () const

Protected Attributes
std::vector< double >	values

Inherited functionalities from vpMomentArea
void	compute () VP_OVERRIDE
const std::string	name () const VP_OVERRIDE
void	printDependencies (std::ostream &os) const VP_OVERRIDE
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpMomentArea &m)

Detailed Description

Class handling the surface moment.

For a dense planar object, the area corresponds to the zero-order moment:

$\‍[ a = m_{00} = \mu_{00} \‍]$

When considering a discrete set of points, the moment $m_{00}$ simply corresponds to the number of points. Since this is of no use in a servoing scheme, this class uses in this case $a = \mu_{20} + \mu_{02}$ , which is invariant to planar translation and rotation.

Definition at line 59 of file vpMomentArea.h.

Constructor & Destructor Documentation

◆ vpMomentArea()

vpMomentArea::vpMomentArea ( )

Default constructor.

Definition at line 73 of file vpMomentArea.cpp.

References vpMoment::values, and vpMoment::vpMoment().

Referenced by operator<<.

Member Function Documentation

◆ compute()

BEGIN_VISP_NAMESPACE void vpMomentArea::compute ( )

virtual

Has the area $a = m_{00} = \mu_{00}$ for dense objects, $\mu_{20}+\mu_{02}$ for a discrete set of points. Gets the value of $m_{00}$ from vpMomentCentered.

Implements vpMoment.

Definition at line 48 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMomentObject::get(), vpMoment::getMoments(), vpMoment::getObject(), vpException::notInitialized, and vpMoment::values.

◆ get()

const std::vector< double > & vpMoment::get ( ) const

inlineinherited

Returns all values computed by the moment.

Returns: vector of values

Definition at line 155 of file vpMoment.h.

References values.

Referenced by vpMomentGravityCenterNormalized::compute(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpMomentCentered::get(), and vpMomentGravityCenterNormalized::printDependencies().

◆ getMoments()

vpMomentDatabase & vpMoment::getMoments ( ) const

inlineprotectedinherited

Returns the linked moment database.

Returns: the moment database

Definition at line 118 of file vpMoment.h.

Referenced by vpMomentAlpha::compute(), vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), vpMomentCInvariant::compute(), vpMomentGravityCenterNormalized::compute(), vpMomentAlpha::printDependencies(), vpMomentArea::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentCentered::printDependencies(), and vpMomentGravityCenterNormalized::printDependencies().

◆ getObject()

const vpMomentObject & vpMoment::getObject ( ) const

inlineinherited

Definition at line 150 of file vpMoment.h.

Referenced by vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), vpMomentCInvariant::compute(), vpMomentGravityCenter::compute(), vpMomentBasic::get(), vpMomentBasic::get(), vpMomentCentered::get(), vpMomentBasic::operator<<, vpMomentCentered::operator<<, vpMomentArea::printDependencies(), vpMomentAreaNormalized::printDependencies(), vpMomentBasic::printDependencies(), vpMomentCentered::printDependencies(), vpMomentGravityCenter::printDependencies(), vpMomentCentered::printWithIndices(), and vpMomentCentered::set().

◆ linkTo()

void vpMoment::linkTo ( vpMomentDatabase & data_base )

inherited

Links the moment to a database of moment primitives. If the moment depends on other moments, these moments must be linked to the same database.

Attention: Two moments of the same class cannot be stored in the same database
#include <visp3/core/vpMomentCentered.h>

#include <visp3/core/vpMomentDatabase.h>

#include <visp3/core/vpMomentGravityCenter.h>

#include <visp3/core/vpMomentObject.h>

#include <visp3/core/vpPoint.h>

#ifdef ENABLE_VISP_NAMESPACE

using namespace VISP_NAMESPACE_NAME;

#endif

int main()

{

vpPoint p;

std::vector<vpPoint> vec_p;

p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)

vec_p.push_back(p);

p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)

vec_p.push_back(p);

vpMomentObject obj(2);

obj.setType(vpMomentObject::DISCRETE); // Discrete mode.

obj.fromVector(vec_p); // Init the dense object with the polygon

vpMomentDatabase db;

vpMomentGravityCenter G; // declaration of gravity center

vpMomentCentered mc; // mc contains centered moments

G.linkTo(db); // add gravity center to database

mc.linkTo(db); // centered moments depend on gravity, add them to the

// database to grant access

G.update(obj); // specify the object for gravity center

mc.update(obj); // and for centered moments

G.compute(); // compute the moment

mc.compute(); // compute centered moments AFTER gravity center

return 0;

}

vpMomentCentered
This class defines the double-indexed centered moment descriptor .
Definition vpMomentCentered.h:77

vpMomentCentered::compute
void compute() VP_OVERRIDE
Definition vpMomentCentered.cpp:61

vpMomentDatabase
This class allows to register all vpMoments so they can access each other according to their dependen...
Definition vpMomentDatabase.h:133

vpMomentGravityCenter
Class describing 2D gravity center moment.
Definition vpMomentGravityCenter.h:117

vpMomentGravityCenter::compute
void compute() VP_OVERRIDE
Definition vpMomentGravityCenter.cpp:45

vpMomentObject
Class for generic objects.
Definition vpMomentObject.h:225

vpMomentObject::DISCRETE
@ DISCRETE
Definition vpMomentObject.h:237

vpMoment::linkTo
void linkTo(vpMomentDatabase &moments)
Definition vpMoment.cpp:114

vpMoment::update
void update(vpMomentObject &object)
Definition vpMoment.cpp:127

vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:79

VISP_NAMESPACE_NAME
Definition vpEigenConversion.h:44

Parameters

data_base : database of moment primitives.

Examples: mbot-apriltag-ibvs.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, and testMomentAlpha.cpp.

Definition at line 114 of file vpMoment.cpp.

References name().

Referenced by vpMomentCommon::getAlpha(), vpMomentCommon::getMu3(), and vpMomentCommon::getSurface().

◆ name()

const std::string vpMomentArea::name ( ) const

inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 68 of file vpMomentArea.h.

◆ printDependencies()

void vpMomentArea::printDependencies ( std::ostream & os ) const

virtual

If the vpMomentObject type is

DISCRETE(set of discrete points), uses mu20+mu02
DENSE_FULL_OBJECT(from image) used mu00

Reimplemented from vpMoment.

Definition at line 80 of file vpMomentArea.cpp.

References vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMoment::getMoments(), vpMoment::getObject(), and vpException::notInitialized.

◆ update()

void vpMoment::update ( vpMomentObject & moment_object )

inherited

Updates the moment with the current object. This does not compute any values.

Parameters

moment_object : object descriptor of the current camera vision.

Definition at line 127 of file vpMoment.cpp.

Referenced by name().

◆ operator<<

VISP_EXPORT std::ostream & operator<<	(	std::ostream &	os,
		const vpMomentArea &	m )

friend

Outputs the moment's values to a stream.

Definition at line 102 of file vpMomentArea.cpp.

References operator<<, vpMoment::values, and vpMomentArea().

Referenced by operator<<.

Member Data Documentation

◆ values

std::vector<double> vpMoment::values

protectedinherited

Definition at line 113 of file vpMoment.h.

Public Member Functions

Protected Member Functions

Protected Attributes

Inherited functionalities from vpMomentArea