/*!
Has the area \f$ a = m_{00} = \mu_{00} \f$.
Gets the value of m00 from vpMomentCentered.
*/
void vpMomentArea::compute(){
/* getObject() returns a reference to a vpMomentObject. This is public member of vpMoment */
if(getObject().getType()==vpMomentObject::DISCRETE) {
bool found_moment_centered;
/* getMoments() returns a reference to a vpMomentDatabase. It is a protected member of and is inherited from vpMoment
* .get() is a member function of vpMomentDatabase that returns a specific moment which is linked to it
*/
const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
values[0] = momentCentered.get(2,0) + momentCentered.get(0,2);
}
else {
values[0] = getObject().get(0,0);
}
}
/*!
Prints dependencies namely,
1. Depth at desired pose Z*
2. Area moment at desired pose
m00* if DENSE moment object, (mu20* + mu02*) if DISCRETE moment object
3. Area moment at current pose
m00 if DENSE moment object, (mu20 + mu02) if DISCRETE moment object
*/
void vpMomentAreaNormalized::printDependencies(std::ostream& os) const{
os << (__FILE__) << std::endl;
os << "Desired depth Z* = " << desiredDepth << std::endl;
os << "Desired area m00* = " << desiredSurface << std::endl;
bool found_moment_centered;
const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered)
throw vpException(vpException::notInitialized,"vpMomentCentered not found");
double a;
if(getObject().getType()==vpMomentObject::DISCRETE)
a = momentCentered.get(2,0)+momentCentered.get(0,2);
else
a = getObject().get(0,0);
os << "a = " << a << std::endl;
}
/*!
If the vpMomentObject type is
1. DISCRETE(set of discrete points), uses mu20+mu02
2. DENSE_FULL_OBJECT(from image) used mu00
*/
void vpMomentArea::printDependencies(std::ostream& os) const{
os << (__FILE__) << std::endl;
bool found_moment_centered;
const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
if(getObject().getType()==vpMomentObject::DISCRETE)
{
os << "mu20 = " << momentCentered.get(2, 0) << "\t";
os << "mu02 = " << momentCentered.get(0, 2) << std::endl;
}
else
{
os << "mu00 = " << momentCentered.get(0, 0) << std::endl;
}
}
/*!
Computes translation-plane-rotation-scale invariants.
Depends on vpMomentCentered.
All possible invariants are computed here. The selection of the invariant is done afterwards.
*/
void vpMomentCInvariant::compute(){
if(getObject().getOrder()<5) throw vpException(vpException::notInitialized,"Order is not high enough for vpMomentCInvariant. Specify at least order 5.");
bool found_moment_centered;
const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered)));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
computeI(momentCentered,I);
double II3_2 = II[3]*II[3];
double II3_3 = II3_2*II[3];
double a;
if(getObject().getType()==vpMomentObject::DISCRETE)
a = momentCentered.get(2,0)+momentCentered.get(0,2);
else
a = getObject().get(0,0);
values[0] = I[1]/I[2];
values[1] = I[3]/I[4];
values[2] = I[5]/I[6];
values[3] = I[7]/I[6];
values[4] = I[8]/I[6];
values[5] = I[9]/I[6];
values[6] = I[11]/I[10];
values[7] = I[12]/I[10];
values[8] = I[13]/I[15];
values[9] = I[14]/I[15];
if (flg_sxsynormalization_)
calcSxSyNormalized(values[10], values[11]);
else
calcSxSy(values[10], values[11]);
values[12] = II[1]/(II3_2); // Px
values[13] = a*II[2]/(II3_3); // Py
}
/*!
Computes the normalized area \f$ a_n=Z^* \sqrt{\frac{a^*}{a}} \f$.
Depends on vpMomentCentered.
*/
void vpMomentAreaNormalized::compute(){
bool found_moment_centered;
/* getMoments() returns a reference to a vpMomentDatabase. (a protected member inherited from vpMoment)
.get() is a member function of vpMomentDatabase that returns a specific moment which is linked to it*/
const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
double a;
/* getObject() returns a reference to the vpMomentObject from which
* the moment values are calculated. (public member of vpMoment)*/
if(getObject().getType()==vpMomentObject::DISCRETE)
a = momentCentered.get(2,0)+momentCentered.get(0,2);
else
a = getObject().get(0,0);
values[0] = desiredDepth*sqrt(desiredSurface/a);
}
/*!
Prints the dependent moments,
1. centre of gravity
2. normalized area moment
*/
void vpMomentGravityCenterNormalized::printDependencies(std::ostream& os) const{
os << (__FILE__) << std::endl;
bool found_moment_gravity;
bool found_moment_surface_normalized;
const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
os << "Xg = " << momentGravity.get()[0] << "\t" << "Yg = " << momentGravity.get()[1] << std::endl;
os << "An = " << momentSurfaceNormalized.get()[0] << std::endl;
}
/*!
Computes normalized gravity center moment.
Depends on vpMomentAreaNormalized and on vpMomentGravityCenter.
*/
void vpMomentGravityCenterNormalized::compute(){
bool found_moment_gravity;
bool found_moment_surface_normalized;
const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
double Xn = momentGravity.get()[0]*momentSurfaceNormalized.get()[0];
double Yn = momentGravity.get()[1]*momentSurfaceNormalized.get()[0];
values[0] = Xn;
values[1] = Yn;
}
/*!
Computes centered moments of all available orders.
Depends on vpMomentGravityCenter.
*/
void vpMomentCentered::compute(){
bool found_moment_gravity;
values.resize((getObject().getOrder()+1)*(getObject().getOrder()+1));
const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
unsigned int order = getObject().getOrder()+1;
for(register unsigned int j=0;j<(order);j++){
for(register unsigned int i=0;i<order-j;i++){
unsigned int c = order*j+i;
values[c]=0;
for(register unsigned int k=0;k<=i;k++){
double Xg_i_k = pow(-momentGravity.get()[0],(int)(i-k));
double comb_i_k = static_cast<double>( vpMath::comb(i,k) );
for(register unsigned int l=0;l<=j;l++){
values[c]+= static_cast<double>( comb_i_k*vpMath::comb(j,l)
*Xg_i_k
*pow(-momentGravity.get()[1],(int)(j-l))*getObject().get(k,l) );
}
}
}
}
}
/*!
Prints moments required for calculation of vpMomentCentered,
which are
1. Raw geometric moments (vpMomentObject) and
2. Centre of gravity (vpMomentGravityCentered)
*/
void
vpMomentCentered::printDependencies(std::ostream& os) const {
os << (__FILE__) << std::endl;
/*
Retreive the raw moments
*/
const vpMomentObject objt = getObject();
vpMomentObject::printWithIndices(objt, os);
/*
Get xg,yg
*/
bool found_moment_gravity;
const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_gravity)
throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
os << "Xg = " << momentGravity.getXg() << "\t" << "Yg = " << momentGravity.getYg() << std::endl;
}