Visual Servoing Platform version 3.6.0
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vpFeatureMomentCentered.cpp
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 * Implementation for all supported moment features.
33 *
34 * Authors:
35 * Filip Novotny
36 * Manikandan Bakthavatchalam
37 *****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40
41#include <limits>
42#include <vector>
43
44#include <visp3/core/vpMomentCentered.h>
45#include <visp3/core/vpMomentGravityCenter.h>
46#include <visp3/core/vpMomentObject.h>
47#include <visp3/visual_features/vpFeatureMomentBasic.h>
48#include <visp3/visual_features/vpFeatureMomentCentered.h>
49#include <visp3/visual_features/vpFeatureMomentDatabase.h>
50#include <visp3/visual_features/vpFeatureMomentGravityCenter.h>
51
61vpFeatureMomentCentered::vpFeatureMomentCentered(vpMomentDatabase &moments_, double A_, double B_, double C_,
62 vpFeatureMomentDatabase *featureMoments)
63 : vpFeatureMoment(moments_, A_, B_, C_, featureMoments), order(0)
64{
65}
66
73vpMatrix vpFeatureMomentCentered::interaction(unsigned int select_one, unsigned int select_two) const
74{
75 if (select_one + select_two > moment->getObject().getOrder())
76 throw vpException(vpException::badValue, "The requested value has not "
77 "been computed, you should "
78 "specify a higher order.");
79 return interaction_matrices[select_two * order + select_one];
80}
81
87vpMatrix vpFeatureMomentCentered::compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg,
88 const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg,
89 const vpMomentBasic &m,
90 const vpFeatureMomentBasic &feature_moment_m) const
91{
92 // term1, term2 and Lterm3 (matrix) will be repeatedly computed inside the
93 // innermost loop
94 double term1 = 0.0;
95 double term2 = 0.0;
96 vpMatrix Lterm3(1, 6);
97
98 double qcombl = 0.0;
99 double pcombkqcombl = 0.0;
100
101 double mkl = 0.0;
102 vpMatrix L_mkl;
103
104 int qml = 0; // q-l
105 double minus1pow = 0.; // (-1)^(p+q-k-l)
106 double pintom = 0.;
107
108 for (unsigned int k = 0; k <= p; ++k) {
109 int pmk = (int)p - (int)k;
110 double pcombk = static_cast<double>(vpMath::comb(p, k));
111 for (unsigned int l = 0; l <= q; ++l) {
112 qml = (int)q - (int)l;
113 qcombl = static_cast<double>(vpMath::comb(q, l));
114 minus1pow = pow((double)-1, (double)(pmk + qml));
115 pcombkqcombl = pcombk * qcombl;
116 mkl = m.get(k, l);
117 pintom = pcombkqcombl * mkl;
118 L_mkl = feature_moment_m.interaction(k, l);
119 if (pmk > 0)
120 term1 += pintom * pmk * pow(xg, pmk - 1) * pow(yg, qml) * minus1pow;
121 if (qml > 0)
122 term2 += pintom * qml * pow(xg, pmk) * pow(yg, qml - 1) * minus1pow;
123 Lterm3 += pcombkqcombl * pow(xg, pmk) * pow(yg, qml) * L_mkl * minus1pow;
124 }
125 }
126
127 // L_xg and L_yg stay constant with respect to the above loops. Lterm3 is
128 // summed over
129 vpMatrix L_mupq = L_xg * term1 + L_yg * term2 + Lterm3;
130 return L_mupq;
131}
132
145{
146#ifdef VISP_MOMENTS_COMBINE_MATRICES
147 const vpMomentObject &momentObject = moment->getObject();
148 order = momentObject.getOrder() + 1;
150 for (std::vector<vpMatrix>::iterator i = interaction_matrices.begin(); i != interaction_matrices.end(); ++i)
151 i->resize(1, 6);
152
153 bool found_moment_gravity;
154 const vpMomentGravityCenter &momentGravity =
155 static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
156 if (!found_moment_gravity)
157 throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
158 double xg = momentGravity.get()[0];
159 double yg = momentGravity.get()[1];
160
161 bool found_feature_gravity_center;
162 vpFeatureMomentGravityCenter &featureMomentGravityCenter = (static_cast<vpFeatureMomentGravityCenter &>(
163 featureMomentsDataBase->get("vpFeatureMomentGravityCenter", found_feature_gravity_center)));
164 if (!found_feature_gravity_center)
165 throw vpException(vpException::notInitialized, "vpFeatureMomentGravityCenter not found");
166 vpMatrix Lxg = featureMomentGravityCenter.interaction(1 << 0);
167 vpMatrix Lyg = featureMomentGravityCenter.interaction(1 << 1);
168
169 bool found_moment_basic;
170 const vpMomentBasic &momentbasic =
171 static_cast<const vpMomentBasic &>(moments.get("vpMomentBasic", found_moment_basic));
172 if (!found_moment_basic)
173 throw vpException(vpException::notInitialized, "vpMomentBasic not found");
174
175 bool found_featuremoment_basic;
176 vpFeatureMomentBasic &featureMomentBasic = (static_cast<vpFeatureMomentBasic &>(
177 featureMomentsDataBase->get("vpFeatureMomentBasic", found_featuremoment_basic)));
178 if (!found_featuremoment_basic)
179 throw vpException(vpException::notInitialized, "vpFeatureMomentBasic not found");
180
181 // Calls the main compute_Lmu_pq function for moments upto order-1
182 for (int i = 0; i < (int)order - 1; i++) {
183 for (int j = 0; j < (int)order - 1 - i; j++) {
184 interaction_matrices[(unsigned int)j * order + (unsigned int)i] =
185 compute_Lmu_pq(i, j, xg, yg, Lxg, Lyg, momentbasic, featureMomentBasic);
186 }
187 }
188#else // #ifdef VISP_MOMENTS_COMBINE_MATRICES
189 bool found_moment_centered;
190 bool found_moment_gravity;
191
192 const vpMomentCentered &momentCentered =
193 (static_cast<const vpMomentCentered &>(moments.get("vpMomentCentered", found_moment_centered)));
194 const vpMomentGravityCenter &momentGravity =
195 static_cast<const vpMomentGravityCenter &>(moments.get("vpMomentGravityCenter", found_moment_gravity));
196
197 if (!found_moment_centered)
198 throw vpException(vpException::notInitialized, "vpMomentCentered not found");
199 if (!found_moment_gravity)
200 throw vpException(vpException::notInitialized, "vpMomentGravityCenter not found");
201
202 int delta;
203 int epsilon;
204 const vpMomentObject &momentObject = moment->getObject();
205 order = momentObject.getOrder() + 1;
207 for (std::vector<vpMatrix>::iterator i = interaction_matrices.begin(); i != interaction_matrices.end(); ++i)
208 i->resize(1, 6);
209 if (momentObject.getType() == vpMomentObject::DISCRETE) {
210 delta = 0;
211 epsilon = 1;
212 } else {
213 delta = 1;
214 epsilon = 4;
215 }
216 double n11 = momentCentered.get(1, 1) / momentObject.get(0, 0);
217 double n20 = momentCentered.get(2, 0) / momentObject.get(0, 0);
218 double n02 = momentCentered.get(0, 2) / momentObject.get(0, 0);
219 double Xg = momentGravity.getXg();
220 double Yg = momentGravity.getYg();
221 double mu00 = momentCentered.get(0, 0);
222
223 unsigned int VX = 0;
224 unsigned int VY = 1;
225 unsigned int VZ = 2;
226 unsigned int WX = 3;
227 unsigned int WY = 4;
228 unsigned int WZ = 5;
229
230 interaction_matrices[0][0][VX] = -(delta)*A * mu00;
231 interaction_matrices[0][0][VY] = -(delta)*B * mu00;
232
233 // Since mu10=0 and mu01=0
234 // interaction_matrices[0][0][WX] = (3*delta)*MU(0,1)+(3*delta)*Yg*mu00;
235 // interaction_matrices[0][0][WY] = -(3*delta)*MU(1,0)-(3*delta)*Xg*mu00;
236 // we get the simplification:
237 interaction_matrices[0][0][WX] = (3 * delta) * Yg * mu00;
238 interaction_matrices[0][0][WY] = -(3 * delta) * Xg * mu00;
239 interaction_matrices[0][0][VZ] =
240 -A * interaction_matrices[0][0][WY] + B * interaction_matrices[0][0][WX] + (2 * delta) * C * mu00;
241 interaction_matrices[0][0][WZ] = 0.;
242
243 for (int i = 1; i < (int)order - 1; i++) {
244 unsigned int i_ = (unsigned int)i;
245 unsigned int im1_ = i_ - 1;
246 unsigned int ip1_ = i_ + 1;
247
248 double mu_im10 = momentCentered.get(im1_, 0);
249 double mu_ip10 = momentCentered.get(ip1_, 0);
250 double mu_im11 = momentCentered.get(im1_, 1);
251 double mu_i0 = momentCentered.get(i_, 0);
252 double mu_i1 = momentCentered.get(i_, 1);
253
254 interaction_matrices[i_][0][VX] = -(i + delta) * A * mu_i0 - (i * B * mu_im11);
255 interaction_matrices[i_][0][VY] = -(delta)*B * mu_i0;
256
257 interaction_matrices[i_][0][WX] =
258 (i + 3 * delta) * mu_i1 + (i + 3 * delta) * Yg * mu_i0 + i * Xg * mu_im11 - i * epsilon * n11 * mu_im10;
259 interaction_matrices[i_][0][WY] =
260 -(i + 3 * delta) * mu_ip10 - (2 * i + 3 * delta) * Xg * mu_i0 + i * epsilon * n20 * mu_im10;
261 interaction_matrices[i_][0][VZ] =
262 -A * interaction_matrices[i_][0][WY] + B * interaction_matrices[i_][0][WX] + (i + 2 * delta) * C * mu_i0;
263 interaction_matrices[i_][0][WZ] = i * mu_im11;
264 }
265
266 for (int j = 1; j < (int)order - 1; j++) {
267 unsigned int j_ = (unsigned int)j;
268 unsigned int jm1_ = j_ - 1;
269 unsigned int jp1_ = j_ + 1;
270
271 double mu_0jm1 = momentCentered.get(0, jm1_);
272 double mu_0jp1 = momentCentered.get(0, jp1_);
273 double mu_1jm1 = momentCentered.get(1, jm1_);
274 double mu_0j = momentCentered.get(0, j_);
275 double mu_1j = momentCentered.get(1, j_);
276
277 interaction_matrices[j_ * order][0][VX] = -(delta)*A * mu_0j;
278 interaction_matrices[j_ * order][0][VY] = -j * A * mu_1jm1 - (j + delta) * B * mu_0j;
279
280 interaction_matrices[j_ * order][0][WX] =
281 (j + 3 * delta) * mu_0jp1 + (2 * j + 3 * delta) * Yg * mu_0j - j * epsilon * n02 * mu_0jm1;
282 interaction_matrices[j_ * order][0][WY] =
283 -(j + 3 * delta) * mu_1j - (j + 3 * delta) * Xg * mu_0j - j * Yg * mu_1jm1 + j * epsilon * n11 * mu_0jm1;
284 interaction_matrices[j_ * order][0][VZ] = -A * interaction_matrices[j_ * order][0][WY] +
285 B * interaction_matrices[j_ * order][0][WX] + (j + 2 * delta) * C * mu_0j;
286 interaction_matrices[j_ * order][0][WZ] = -j * mu_1jm1;
287 }
288
289 for (int j = 1; j < (int)order - 1; j++) {
290 unsigned int j_ = (unsigned int)j;
291 unsigned int jm1_ = j_ - 1;
292 unsigned int jp1_ = j_ + 1;
293 for (int i = 1; i < (int)order - j - 1; i++) {
294 unsigned int i_ = (unsigned int)i;
295 unsigned int im1_ = i_ - 1;
296 unsigned int ip1_ = i_ + 1;
297
298 double mu_ijm1 = momentCentered.get(i_, jm1_);
299 double mu_ij = momentCentered.get(i_, j_);
300 double mu_ijp1 = momentCentered.get(i_, jp1_);
301 double mu_im1j = momentCentered.get(im1_, j_);
302 double mu_im1jp1 = momentCentered.get(im1_, jp1_);
303 double mu_ip1jm1 = momentCentered.get(ip1_, jm1_);
304 double mu_ip1j = momentCentered.get(ip1_, j_);
305
306 interaction_matrices[j_ * order + i_][0][VX] = -(i + delta) * A * mu_ij - i * B * mu_im1jp1;
307 interaction_matrices[j_ * order + i_][0][VY] = -j * A * mu_ip1jm1 - (j + delta) * B * mu_ij;
308
309 interaction_matrices[j_ * order + i_][0][WX] = (i + j + 3 * delta) * mu_ijp1 +
310 (i + 2 * j + 3 * delta) * Yg * mu_ij + i * Xg * mu_im1jp1 -
311 i * epsilon * n11 * mu_im1j - j * epsilon * n02 * mu_ijm1;
312 interaction_matrices[j_ * order + i_][0][WY] = -(i + j + 3 * delta) * mu_ip1j -
313 (2 * i + j + 3 * delta) * Xg * mu_ij - j * Yg * mu_ip1jm1 +
314 i * epsilon * n20 * mu_im1j + j * epsilon * n11 * mu_ijm1;
315 interaction_matrices[j_ * order + i_][0][VZ] = -A * interaction_matrices[j_ * order + i_][0][WY] +
316 B * interaction_matrices[j_ * order + i_][0][WX] +
317 (i + j + 2 * delta) * C * mu_ij;
318 interaction_matrices[j_ * order + i_][0][WZ] = i * mu_im1jp1 - j * mu_ip1jm1;
319 }
320 }
321#endif // #ifdef VISP_MOMENTS_COMBINE_MATRICES
322}
323
328std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCentered &mu)
329{
330 vpTRACE(" << Ls - CENTRED MOMENTS >>");
331 unsigned int order_m_1 = (unsigned int)(mu.order - 1);
332 for (unsigned int i = 0; i < order_m_1; i++) {
333 for (unsigned int j = 0; j < order_m_1 - i; j++) {
334 os << "L_mu[" << i << "," << j << "] = ";
335 mu.interaction(i, j).matlabPrint(os);
336 }
337 }
338 return os;
339}
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ badValue
Used to indicate that a value is not in the allowed range.
Definition vpException.h:85
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
Functionality computation for centered moment feature. Computes the interaction matrix associated wit...
vpFeatureMomentCentered(vpMomentDatabase &moments, double A, double B, double C, vpFeatureMomentDatabase *featureMoments=NULL)
vpMatrix interaction(unsigned int select_one, unsigned int select_two) const
vpMatrix compute_Lmu_pq(const unsigned int &p, const unsigned int &q, const double &xg, const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m, const vpFeatureMomentBasic &feature_moment_m) const
This class allows to register all feature moments (implemented in vpFeatureMoment....
vpFeatureMoment & get(const char *type, bool &found)
Functionality computation for gravity center moment feature. Computes the interaction matrix associat...
This class defines shared system methods/attributes for 2D moment features but no functional code....
std::vector< vpMatrix > interaction_matrices
vpFeatureMomentDatabase * featureMomentsDataBase
vpMomentDatabase & moments
vpMatrix interaction(unsigned int select=FEATURE_ALL)
const vpMoment * moment
static long double comb(unsigned int n, unsigned int p)
Definition vpMath.h:309
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
std::ostream & matlabPrint(std::ostream &os) const
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject wich allows to us...
const std::vector< double > & get() const
This class defines the double-indexed centered moment descriptor .
double get(unsigned int i, unsigned int j) const
This class allows to register all vpMoments so they can access each other according to their dependen...
const vpMoment & get(const char *type, bool &found) const
Class describing 2D gravity center moment.
const std::vector< double > & get() const
Class for generic objects.
unsigned int getOrder() const
const std::vector< double > & get() const
vpObjectType getType() const
const vpMomentObject & getObject() const
Definition vpMoment.h:145
#define vpTRACE
Definition vpDebug.h:411