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

#include <vpMomentGravityCenter.h>

Inheritance diagram for vpMomentGravityCenter:

Public Member Functions

 vpMomentGravityCenter ()
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

Inherited functionalities from vpMomentGravityCenter

void compute () VP_OVERRIDE
const std::vector< double > & get () const
double getXg () const
double getYg () const
const std::string name () const VP_OVERRIDE
void printDependencies (std::ostream &os) const VP_OVERRIDE
VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpMomentGravityCenter &v)

Detailed Description

Class describing 2D gravity center moment.

This moment can be computed from scratch (no need to compute any different moments before computing this). It gives access to both coordinates of the gravity center $x_g$ and $y_g$.

These coordinates are defined as follows: $x_g = \frac{m_{01}}{m_{00}} $, $y_g = \frac{m_{10}}{m_{00}} $

#include <iostream>
#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()
{
// Define the contour of an object by a 5 clockwise vertices on a plane
vpPoint p;
std::vector<vpPoint> vec_p; // vector that contains the vertices of the contour polygon
p.set_x(-0.2); p.set_y(0.1); // coordinates in meters in the image plane (vertex 1)
vec_p.push_back(p);
p.set_x(+0.3); p.set_y(0.1); // coordinates in meters in the image plane (vertex 2)
vec_p.push_back(p);
p.set_x(+0.2); p.set_y(-0.1); // coordinates in meters in the image plane (vertex 3)
vec_p.push_back(p);
p.set_x(-0.2); p.set_y(-0.15); // coordinates in meters in the image plane (vertex 4)
vec_p.push_back(p);
p.set_x(-0.2); p.set_y(0.1); // close the contour (vertex 5 = vertex 1)
vec_p.push_back(p);
vpMomentObject obj(1); // Create an image moment object with 1 as
// maximum order (because only m00,m01,m10
// are needed to compute the gravity center primitive.
obj.setType(vpMomentObject::DENSE_POLYGON); // The object is defined by a contour polygon
obj.fromVector(vec_p); // Init the dense object with the polygon
vpMomentGravityCenter g; // declaration of gravity center
g.update(obj); // specify the object
g.compute(); // compute the moment
std::cout << "Xg=" << g.getXg() << std::endl; // access to Xg
std::cout << "Yg=" << g.getYg() << std::endl; // access to Yg
std::cout << g << std:: endl; // print gravity center
return 0;
}
vpMomentObject
Class for generic objects.
Definition vpMomentObject.h:225
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

This example produces the following results:

Xg=0.0166667
Yg=-0.00833333
Xg=0.0166667, Yg=-0.00833333
Examples
mbot-apriltag-ibvs.cpp, servoBebop2.cpp, servoPixhawkDroneIBVS.cpp, and testMomentAlpha.cpp.

Definition at line 116 of file vpMomentGravityCenter.h.

Constructor & Destructor Documentation

◆ vpMomentGravityCenter()

vpMomentGravityCenter::vpMomentGravityCenter ( )

Default constructor.

Definition at line 54 of file vpMomentGravityCenter.cpp.

References vpMoment::values, and vpMoment::vpMoment().

Referenced by vpMomentGravityCenterNormalized::compute(), operator<<, vpMomentGravityCenterNormalized::printDependencies(), and vpMomentGravityCenterNormalized::vpMomentGravityCenterNormalized().

Member Function Documentation

◆ compute()

BEGIN_VISP_NAMESPACE void vpMomentGravityCenter::compute ( )
virtual

Computes the two gravity center coordinates commonly called $x_g$ and $y_g$.

Implements vpMoment.

Reimplemented in vpMomentGravityCenterNormalized.

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

Definition at line 45 of file vpMomentGravityCenter.cpp.

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

◆ get()

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

Returns a vector of the two gravity center coordinates.

Returns
Coordinates in the following moment: $(x_g,y_g)$.

Definition at line 60 of file vpMomentGravityCenter.cpp.

References vpMoment::values.

Referenced by vpMomentCentered::compute(), vpMomentGravityCenterNormalized::compute(), vpFeatureMomentCentered::compute_interaction(), and vpMomentGravityCenterNormalized::printDependencies().

◆ 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().

◆ getXg()

double vpMomentGravityCenter::getXg ( ) const
inline

Shortcut function to retrieve $x_g$.

Returns
The first gravity center coordinate.

Definition at line 129 of file vpMomentGravityCenter.h.

References vpMoment::values.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), and vpMomentCentered::printDependencies().

◆ getYg()

double vpMomentGravityCenter::getYg ( ) const
inline

Shortcut function to retrieve $y_g$.

Returns
The second gravity center coordinate.

Definition at line 134 of file vpMomentGravityCenter.h.

References vpMoment::values.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), and vpMomentCentered::printDependencies().

◆ 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
vpMoment::linkTo
void linkTo(vpMomentDatabase &moments)
Definition vpMoment.cpp:114
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 vpMomentGravityCenter::name ( ) const
inlinevirtual

The class's string name.

Implements vpMoment.

Reimplemented in vpMomentGravityCenterNormalized.

Definition at line 138 of file vpMomentGravityCenter.h.

◆ printDependencies()

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

Prints its dependencies Basic moments m10, m01 and m00 from vpMomentObject

Reimplemented from vpMoment.

Reimplemented in vpMomentGravityCenterNormalized.

Definition at line 66 of file vpMomentGravityCenter.cpp.

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

◆ 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 vpMomentGravityCenter & v )
friend

Outputs the moment's values to a stream.

Definition at line 77 of file vpMomentGravityCenter.cpp.

References operator<<, vpMoment::values, and vpMomentGravityCenter().

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().