Visual Servoing Platform version 3.7.0
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vpMomentBasic Class Reference
core: Core module » Tools » Image moments

#include <vpMomentBasic.h>

Inheritance diagram for vpMomentBasic:

Public Member Functions

 vpMomentBasic ()
void compute () VP_OVERRIDE
const std::vector< double > & get () const
double get (unsigned int i, unsigned int j) const
const std::string name () const VP_OVERRIDE
void printDependencies (std::ostream &os) const VP_OVERRIDE
Inherited functionalities from vpMoment
const vpMomentObject & getObject () const
void linkTo (vpMomentDatabase &moments)
void update (vpMomentObject &object)

Protected Member Functions

vpMomentDatabase & getMoments () const

Protected Attributes

std::vector< double > values

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpMomentBasic &v)

Detailed Description

This class defines the 2D basic moment $m_{ij}$. This class is a wrapper for vpMomentObject which allows to use it as a moment. This enables all common operations such as adding to a vpMomentDatabase.

In the case of a dense object O, 2D basic moments are defined by:

\‍[m_{ij} = \int \int_{O} x^j y^j dx dy\‍]

In the case of a discrete set of n points, the basic moments are defined by

\‍[m_{ij} = \sum_{k=1}^{n} x_k^j y_k^j \‍]

The selection of a dense or discrete object is done in vpMomentObject. The maximum order of vpMomentBasic is the same as that of vpMomentObject (ie: $i+j \leq $ vpMomentObject::getOrder).

Note that in the continuous case, the basic moment $m_{00}$ corresponds to the surface $a$ of the object. In the discrete case, it is the number of discrete points $n$.

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

Definition at line 72 of file vpMomentBasic.h.

Constructor & Destructor Documentation

◆ vpMomentBasic()

BEGIN_VISP_NAMESPACE vpMomentBasic::vpMomentBasic ( )

Default constructor.

Definition at line 41 of file vpMomentBasic.cpp.

References vpMoment::vpMoment().

Referenced by operator<<.

Member Function Documentation

◆ compute()

void vpMomentBasic::compute ( )
virtual

Dummy function. Everything is already done in object.

Implements vpMoment.

Definition at line 64 of file vpMomentBasic.cpp.

◆ get() [1/2]

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

Retrieve all moments of all orders computed. vpMomentBasic::get()[j*order+i] refers to moment $m_{ij}$.

Returns
all computed moments.

Same behaviour as vpMomentObject.

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

Definition at line 49 of file vpMomentBasic.cpp.

References vpMomentObject::get(), and vpMoment::getObject().

Referenced by vpFeatureMomentCentered::compute_Lmu_pq().

◆ get() [2/2]

double vpMomentBasic::get ( unsigned int i,
unsigned int j ) const

Gets the desired moment using indexes.

Parameters
i: first index of the 2D moment.
j: second index of the 2D moment.
Returns
Moment $m_{ij}$.

Same behaviour as vpMomentObject.

Definition at line 59 of file vpMomentBasic.cpp.

References vpMomentObject::get(), and vpMoment::getObject().

◆ 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
vpMomentObject
Class for generic objects.
Definition vpMomentObject.h:225
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 vpMomentBasic::name ( ) const
inlinevirtual

Moment name.

Implements vpMoment.

Definition at line 83 of file vpMomentBasic.h.

◆ printDependencies()

void vpMomentBasic::printDependencies ( std::ostream & os) const
virtual

No dependencies on other vpMoments, since basic moments are computed in vpMomentObject Just prints the basic moments in vpMomentObject with indices

Reimplemented from vpMoment.

Definition at line 70 of file vpMomentBasic.cpp.

References vpMoment::getObject(), and vpMomentObject::printWithIndices().

◆ 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 vpMomentBasic & v )
friend

Outputs the moment's values to a stream. Same output as in vpMomentObject.

Definition at line 83 of file vpMomentBasic.cpp.

References vpMoment::getObject(), operator<<, vpMomentObject::printWithIndices(), and vpMomentBasic().

Referenced by operator<<.

Member Data Documentation

◆ values

std::vector<double> vpMoment::values
protectedinherited

Definition at line 113 of file vpMoment.h.

Referenced by vpMomentCInvariant::C1(), vpMomentCInvariant::C10(), vpMomentCInvariant::C2(), vpMomentCInvariant::C3(), vpMomentCInvariant::C4(), vpMomentCInvariant::C5(), vpMomentCInvariant::C6(), vpMomentCInvariant::C7(), vpMomentCInvariant::C8(), vpMomentCInvariant::C9(), vpMomentAlpha::compute(), vpMomentArea::compute(), vpMomentAreaNormalized::compute(), vpMomentCentered::compute(), vpMomentCInvariant::compute(), vpMomentGravityCenter::compute(), vpMomentGravityCenterNormalized::compute(), get(), vpMomentAlpha::get(), vpMomentCentered::get(), vpMomentCInvariant::get(), vpMomentGravityCenter::get(), vpMomentCInvariant::getMomentVector(), vpMomentGravityCenter::getXg(), vpMomentGravityCenter::getYg(), operator<<, vpMomentAlpha::operator<<, vpMomentArea::operator<<, vpMomentAreaNormalized::operator<<, vpMomentCentered::operator<<, vpMomentGravityCenter::operator<<, vpMomentGravityCenterNormalized::operator<<, vpMomentCInvariant::Px(), vpMomentCInvariant::Py(), vpMomentCentered::set(), vpMomentCInvariant::Sx(), vpMomentCInvariant::Sy(), vpMoment(), vpMomentAlpha::vpMomentAlpha(), vpMomentArea::vpMomentArea(), vpMomentAreaNormalized::vpMomentAreaNormalized(), vpMomentCInvariant::vpMomentCInvariant(), and vpMomentGravityCenter::vpMomentGravityCenter().