38 #include <visp3/core/vpConfig.h> 43 #include <visp3/core/vpMomentCentered.h> 44 #include <visp3/core/vpMomentGravityCenter.h> 45 #include <visp3/core/vpMomentObject.h> 46 #include <visp3/visual_features/vpFeatureMomentBasic.h> 47 #include <visp3/visual_features/vpFeatureMomentCentered.h> 48 #include <visp3/visual_features/vpFeatureMomentDatabase.h> 49 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h> 61 double A_,
double B_,
double C_,
76 "The requested value has not been computed, you should specify a higher order.");
95 double pcombkqcombl = 0.0;
101 double minus1pow = 0.;
104 for (
unsigned int k = 0; k <=p; ++k)
106 int pmk = (int)p-(
int)k;
108 for (
unsigned int l = 0; l <= q; ++l)
110 qml = (int)q - (
int)l;
112 minus1pow = pow((
double)-1, (
double)(pmk + qml));
113 pcombkqcombl = pcombk * qcombl;
115 pintom = pcombkqcombl * mkl;
118 term1 += pintom * pmk * pow(xg, pmk-1) * pow(yg, qml) * minus1pow;
120 term2 += pintom * qml * pow(xg, pmk) * pow(yg, qml-1) * minus1pow;
121 Lterm3 += pcombkqcombl * pow(xg, pmk) * pow(yg, qml) * L_mkl * minus1pow;
126 vpMatrix L_mupq = L_xg*term1 + L_yg*term2 + Lterm3;
142 #ifdef VISP_MOMENTS_COMBINE_MATRICES 149 bool found_moment_gravity;
152 double xg = momentGravity.
get()[0];
153 double yg = momentGravity.
get()[1];
155 bool found_feature_gravity_center;
161 bool found_moment_basic;
165 bool found_featuremoment_basic;
170 for(
int i=0;i<(int)order-1;i++){
171 for(
int j=0;j<(int)order-1-i;j++){
175 #else // #ifdef VISP_MOMENTS_COMBINE_MATRICES 176 bool found_moment_centered;
177 bool found_moment_gravity;
199 double n11 = momentCentered.
get(1,1)/momentObject.
get(0,0);
200 double n20 = momentCentered.
get(2,0)/momentObject.
get(0,0);
201 double n02 = momentCentered.
get(0,2)/momentObject.
get(0,0);
202 double Xg = momentGravity.
getXg();
203 double Yg = momentGravity.
getYg();
204 double mu00 = momentCentered.
get(0,0);
225 for (
int i=1; i<(int)order-1; i++){
226 unsigned int i_ = (
unsigned int) i;
227 unsigned int im1_ = i_ - 1;
228 unsigned int ip1_ = i_ + 1;
230 double mu_im10 = momentCentered.
get(im1_,0);
231 double mu_ip10 = momentCentered.
get(ip1_,0);
232 double mu_im11 = momentCentered.
get(im1_,1);
233 double mu_i0 = momentCentered.
get(i_,0);
234 double mu_i1 = momentCentered.
get(i_,1);
236 interaction_matrices[i_][0][VX] = -(i+delta)*
A*mu_i0-(i*
B*mu_im11);
237 interaction_matrices[i_][0][VY] = -(delta)*
B*mu_i0;
239 interaction_matrices[i_][0][WX] = (i+3*delta)*mu_i1+(i+3*delta)*Yg*mu_i0+i*Xg*mu_im11-i*epsilon*n11*mu_im10;
240 interaction_matrices[i_][0][WY] = -(i+3*delta)*mu_ip10-(2*i+3*delta)*Xg*mu_i0+i*epsilon*n20*mu_im10;
241 interaction_matrices[i_][0][VZ] = -
A*interaction_matrices[i_][0][WY]+
B*interaction_matrices[i_][0][WX]+(i+2*delta)*
C*mu_i0;
242 interaction_matrices[i_][0][WZ] = i*mu_im11;
245 for(
int j=1;j<(int)order-1;j++){
246 unsigned int j_ = (
unsigned int) j;
247 unsigned int jm1_ = j_ - 1;
248 unsigned int jp1_ = j_ + 1;
250 double mu_0jm1 = momentCentered.
get(0,jm1_);
251 double mu_0jp1 = momentCentered.
get(0,jp1_);
252 double mu_1jm1 = momentCentered.
get(1,jm1_);
253 double mu_0j = momentCentered.
get(0,j_);
254 double mu_1j = momentCentered.
get(1,j_);
256 interaction_matrices[j_*
order][0][VX] = -(delta)*
A*mu_0j;
257 interaction_matrices[j_*
order][0][VY] = -j*
A*mu_1jm1-(j+delta)*
B*mu_0j;
259 interaction_matrices[j_*
order][0][WX] = (j+3*delta)*mu_0jp1+(2*j+3*delta)*Yg*mu_0j-j*epsilon*n02*mu_0jm1;
260 interaction_matrices[j_*
order][0][WY] = -(j+3*delta)*mu_1j-(j+3*delta)*Xg*mu_0j-j*Yg*mu_1jm1+j*epsilon*n11*mu_0jm1;
261 interaction_matrices[j_*
order][0][VZ] = -
A*interaction_matrices[j_*
order][0][WY]+
B*interaction_matrices[j_*
order][0][WX]+(j+2*delta)*
C*mu_0j;
262 interaction_matrices[j_*
order][0][WZ] = -j*mu_1jm1;
265 for(
int j=1; j<(int)order-1; j++) {
266 unsigned int j_ = (
unsigned int) j;
267 unsigned int jm1_ = j_ - 1;
268 unsigned int jp1_ = j_ + 1;
269 for(
int i=1; i<(int)order-j-1; i++) {
270 unsigned int i_ = (
unsigned int) i;
271 unsigned int im1_ = i_ - 1;
272 unsigned int ip1_ = i_ + 1;
274 double mu_ijm1 = momentCentered.
get(i_,jm1_);
275 double mu_ij = momentCentered.
get(i_,j_);
276 double mu_ijp1 = momentCentered.
get(i_,jp1_);
277 double mu_im1j = momentCentered.
get(im1_,j_);
278 double mu_im1jp1 = momentCentered.
get(im1_,jp1_);
279 double mu_ip1jm1 = momentCentered.
get(ip1_,jm1_);
280 double mu_ip1j = momentCentered.
get(ip1_,j_);
282 interaction_matrices[j_*order+i_][0][VX] = -(i+delta)*
A*mu_ij-i*
B*mu_im1jp1;
283 interaction_matrices[j_*order+i_][0][VY] = -j*
A*mu_ip1jm1-(j+delta)*
B*mu_ij;
285 interaction_matrices[j_*order+i_][0][WX] = (i+j+3*delta)*mu_ijp1+(i+2*j+3*delta)*Yg*mu_ij
286 +i*Xg*mu_im1jp1-i*epsilon*n11*mu_im1j-j*epsilon*n02*mu_ijm1;
287 interaction_matrices[j_*order+i_][0][WY] = -(i+j+3*delta)*mu_ip1j-(2*i+j+3*delta)*Xg*mu_ij
288 -j*Yg*mu_ip1jm1+i*epsilon*n20*mu_im1j+j*epsilon*n11*mu_ijm1;
289 interaction_matrices[j_*order+i_][0][VZ] = -
A*interaction_matrices[j_*order+i_][0][WY]+
B*interaction_matrices[j_*order+i_][0][WX]+(i+j+2*delta)*
C*mu_ij;
290 interaction_matrices[j_*order+i_][0][WZ] = i*mu_im1jp1-j*mu_ip1jm1;
293 #endif // #ifdef VISP_MOMENTS_COMBINE_MATRICES 302 vpTRACE(
" << Ls - CENTRED MOMENTS >>");
303 unsigned int order_m_1 = (
unsigned int)(mu.
order - 1);
304 for(
unsigned int i=0; i<order_m_1; i++){
305 for(
unsigned int j=0; j<order_m_1-i; j++){
306 os <<
"L_mu[" << i <<
"," << j <<
"] = ";
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C, vpFeatureMomentDatabase *featureMoments=NULL)
Implementation of a matrix and operations on matrices.
double get(unsigned int i, unsigned int j) const
vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m, const vpFeatureMomentBasic &feature_moment_m) const
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpFeatureMomentCentered &v)
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
const vpMoment & get(const char *type, bool &found) const
unsigned int getOrder() const
error that can be emited by ViSP classes.
Class for generic objects.
std::vector< vpMatrix > interaction_matrices
void compute_interaction()
const std::vector< double > & get() const
const vpMomentObject & getObject() const
std::ostream & matlabPrint(std::ostream &os) const
This class allows to register all vpMoments so they can access each other according to their dependen...
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
This class defines shared system methods/attributes for 2D moment features but no functional code...
const std::vector< double > & get() const
vpMomentDatabase & moments
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
vpObjectType getType() const
Class describing 2D gravity center moment.
vpFeatureMomentDatabase * featureMomentsDataBase
static long double comb(unsigned int n, unsigned int p)
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
vpFeatureMoment & get(const char *type, bool &found)
This class allows to register all feature moments (implemented in vpFeatureMoment... classes) so they can access each other according to their dependencies.