Visual Servoing Platform version 3.6.0
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vpFeatureMoment.h
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 * Base for all moment features
33 *
34 * Authors:
35 * Filip Novotny
36 *
37*****************************************************************************/
45#ifndef _vpFeatureMoment_h_
46#define _vpFeatureMoment_h_
47
48#include <vector>
49#include <visp3/core/vpConfig.h>
50#include <visp3/core/vpException.h>
51#include <visp3/visual_features/vpBasicFeature.h>
52
53class vpMomentObject;
56class vpMoment;
57
135
159class VISP_EXPORT vpFeatureMoment : public vpBasicFeature
160{
161protected:
163 const vpMoment &getMoment() const { return *moment; }
166 std::vector<vpMatrix> interaction_matrices;
167
168 double A;
169 double B;
170 double C;
171 char _name[255];
172
173 // private:
174 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
175 // vpFeatureMoment(const vpFeatureMoment &fm)
176 // : vpBasicFeature(), moment(NULL), moments(fm.moments),
177 // featureMomentsDataBase(NULL),
178 // interaction_matrices(), A(0), B(0), C(0)
179 // {
180 // throw vpException(vpException::functionNotImplementedError, "Not
181 // implemented!");
182 // }
183 // vpFeatureMoment &operator=(const vpFeatureMoment &){
184 // throw vpException(vpException::functionNotImplementedError, "Not
185 // implemented!"); return *this;
186 // }
187 //#endif
188
189public:
204 vpFeatureMoment(vpMomentDatabase &data_base, double A_ = 0.0, double B_ = 0.0, double C_ = 0.0,
205 vpFeatureMomentDatabase *featureMoments = NULL, unsigned int nbmatrices = 1)
206 : vpBasicFeature(), moment(NULL), moments(data_base), featureMomentsDataBase(featureMoments),
207 interaction_matrices(nbmatrices), A(A_), B(B_), C(C_), _name()
208 {
209 }
210
211 virtual ~vpFeatureMoment();
212
215 virtual void compute_interaction(void);
216 vpBasicFeature *duplicate() const;
217 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
218 unsigned int thickness = 1) const;
219 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
220 unsigned int thickness = 1) const;
221
222 int getDimension(unsigned int select = FEATURE_ALL) const;
223 void init(void);
224 vpMatrix interaction(unsigned int select = FEATURE_ALL);
225 void linkTo(vpFeatureMomentDatabase &featureMoments);
226
231 virtual const char *momentName() const = 0;
235 virtual const char *name() const = 0;
236 void print(unsigned int select = FEATURE_ALL) const;
237 virtual void printDependencies(std::ostream &os) const;
238
239 void update(double A, double B, double C);
240
242 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMoment &featM);
243};
244
263class VISP_EXPORT vpMomentGenericFeature : public vpFeatureMoment
264{
265public:
266 vpMomentGenericFeature(vpMomentDatabase &data_base, double A_, double B_, double C_,
267 vpFeatureMomentDatabase *featureMoments, const vpMoment *p_moment)
268 : vpFeatureMoment(data_base, A_, B_, C_, featureMoments)
269 {
270 this->moment = p_moment;
271 }
275 const char *momentName() const { return NULL; }
279 virtual const char *name() const { return NULL; }
280};
281
282#endif
class that defines what is a visual feature
virtual void init()=0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
unsigned int getDimension(unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
This class allows to register all feature moments (implemented in vpFeatureMoment....
This class defines shared system methods/attributes for 2D moment features but no functional code....
std::vector< vpMatrix > interaction_matrices
virtual const char * momentName() const =0
vpFeatureMomentDatabase * featureMomentsDataBase
virtual const char * name() const =0
vpFeatureMoment(vpMomentDatabase &data_base, double A_=0.0, double B_=0.0, double C_=0.0, vpFeatureMomentDatabase *featureMoments=NULL, unsigned int nbmatrices=1)
vpMomentDatabase & moments
const vpMoment & getMoment() const
const vpMoment * moment
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
This class allows to register all vpMoments so they can access each other according to their dependen...
This class defines a generic feature used for moment feature duplication.
vpMomentGenericFeature(vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments, const vpMoment *p_moment)
const char * momentName() const
virtual const char * name() const
Class for generic objects.
This class defines shared methods/attributes for 2D moments.
Definition vpMoment.h:106