38 #include <visp3/core/vpConfig.h> 40 #ifdef VISP_MOMENTS_COMBINE_MATRICES 45 #include <visp3/core/vpMomentObject.h> 46 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h> 47 #include <visp3/visual_features/vpFeatureMomentBasic.h> 48 #include <visp3/visual_features/vpFeatureMomentDatabase.h> 60 bool found_featuremoment_basic;
82 #include <visp3/core/vpMomentObject.h> 83 #include <visp3/core/vpMomentDatabase.h> 84 #include <visp3/core/vpMomentGravityCenter.h> 85 #include <visp3/core/vpMomentCentered.h> 86 #include <visp3/visual_features/vpFeatureMomentGravityCenter.h> 87 #include <visp3/core/vpMomentObject.h> 100 bool found_moment_centered;
101 bool found_moment_gravity;
121 double n11 = momentCentered.
get(1,1)/momentObject.
get(0,0);
122 double n20 = momentCentered.
get(2,0)/momentObject.
get(0,0);
123 double n02 = momentCentered.
get(0,2)/momentObject.
get(0,0);
124 double Xg = momentGravity.
getXg();
125 double Yg = momentGravity.
getYg();
126 double Zg_inv =
A*Xg+
B*Yg+
C;
127 double Xgvz = Xg*Zg_inv+
A*epsilon*n20+
B*epsilon*n11;
128 double Ygvz = Yg*Zg_inv+
A*epsilon*n11+
B*epsilon*n02;
129 double Xgwx = Xg*Yg+epsilon*n11;
131 double Xgwy = -(1+Xg*Xg+epsilon*n20);
132 double Ygwx = 1+Yg*Yg+epsilon*n02;
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
double get(unsigned int i, unsigned int j) const
const vpMoment & get(const char *type, bool &found) const
error that can be emited by ViSP classes.
Class for generic objects.
std::vector< vpMatrix > interaction_matrices
const vpMomentObject & getObject() 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
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
void compute_interaction()
vpFeatureMoment & get(const char *type, bool &found)