vpFeatureMoment.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Base for all moment features
 *
 * Authors:
 * Filip Novotny
 *
*****************************************************************************/
#ifndef _vpFeatureMoment_h_
#define _vpFeatureMoment_h_
 
#include <vector>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
#include <visp3/visual_features/vpBasicFeature.h>
 
class vpMomentObject;
class vpMomentDatabase;
class vpFeatureMomentDatabase;
class vpMoment;

  // Init object of order 3 because we need vpFeatureMomentBasic of order 2 which
  // implies third-order moment primitives
  vpMomentObject obj(3);
  obj.setType(vpMomentObject::DISCRETE); // Discrete mode for object
  obj.fromVector(vec_p);
 
  vpMomentDatabase mdb; //database for moment primitives. This will
  //only contain the basic moment.
  vpMomentBasic bm; //basic moment (this particular moment is nothing
  //more than a shortcut to the vpMomentObject)
  bm.linkTo(mdb); //add basic moment to moment database
 
  vpFeatureMomentBasic fmb(mdb,0,0,1,NULL);
 
  //update and compute the vpMoment BEFORE doing any operations with vpFeatureMoment
  bm.update(obj);
  bm.compute();
 
  fmb.update(0,0,1); //update the vpFeatureMoment with a plane
  //configuration
  std::cout << fmb.interaction(1,1) << std::endl;
}
\endcode
*/
class VISP_EXPORT vpFeatureMoment : public vpBasicFeature
{
protected:
  const vpMoment *moment;
  const vpMoment &getMoment() const { return *moment; }
  vpMomentDatabase &moments;
  vpFeatureMomentDatabase *featureMomentsDataBase;
  std::vector<vpMatrix> interaction_matrices;
 
  double A;
  double B;
  double C;
  char _name[255];
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpFeatureMoment(const vpFeatureMoment &fm)
  //    : vpBasicFeature(), moment(NULL), moments(fm.moments),
  //    featureMomentsDataBase(NULL),
  //      interaction_matrices(), A(0), B(0), C(0)
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpFeatureMoment &operator=(const vpFeatureMoment &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif
 
public:
  vpFeatureMoment(vpMomentDatabase &data_base, double A_ = 0.0, double B_ = 0.0, double C_ = 0.0,
                  vpFeatureMomentDatabase *featureMoments = NULL, unsigned int nbmatrices = 1)
    : vpBasicFeature(), moment(NULL), moments(data_base), featureMomentsDataBase(featureMoments),
      interaction_matrices(nbmatrices), A(A_), B(B_), C(C_), _name()
  {
  }
 
  virtual ~vpFeatureMoment();

  virtual void compute_interaction(void);
  vpBasicFeature *duplicate() const;
  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const;
  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const;
 
  int getDimension(unsigned int select = FEATURE_ALL) const;
  void init(void);
  vpMatrix interaction(unsigned int select = FEATURE_ALL);
  void linkTo(vpFeatureMomentDatabase &featureMoments);

  virtual const char *momentName() const = 0;
  virtual const char *name() const = 0;
  void print(unsigned int select = FEATURE_ALL) const;
  virtual void printDependencies(std::ostream &os) const;
 
  void update(double A, double B, double C);

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMoment &featM);
};

class VISP_EXPORT vpMomentGenericFeature : public vpFeatureMoment
{
public:
  vpMomentGenericFeature(vpMomentDatabase &data_base, double A_, double B_, double C_,
                         vpFeatureMomentDatabase *featureMoments, const vpMoment *p_moment)
    : vpFeatureMoment(data_base, A_, B_, C_, featureMoments)
  {
    this->moment = p_moment;
  }

  const char *momentName() const { return NULL; }
  virtual const char *name() const { return NULL; }
};
 
#endif