vpFeatureMomentCInvariant.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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:
 * Implementation for all supported moment features.
 */

#ifndef _vpFeatureMomentCInvariant_h_
#define _vpFeatureMomentCInvariant_h_
 
#include <visp3/core/vpConfig.h>
#include <visp3/visual_features/vpFeatureMoment.h>
 
#ifdef VISP_MOMENTS_COMBINE_MATRICES
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpFeatureMomentCInvariant : public vpFeatureMoment
{
public:
  vpFeatureMomentCInvariant(vpMomentDatabase &moments, double A, double B, double C,
                            vpFeatureMomentDatabase *featureMoments = nullptr)
    : vpFeatureMoment(moments, A, B, C, featureMoments, 16)
  { }
 
  void compute_interaction() VP_OVERRIDE;

  const std::string momentName() const VP_OVERRIDE
  {
    return "vpMomentCInvariant";
  }

  const std::string name() const VP_OVERRIDE
  {
    return "vpFeatureMomentCInvariant";
  }

  static unsigned int selectC1() { return 1 << 0; }
  static unsigned int selectC2() { return 1 << 1; }
  static unsigned int selectC3() { return 1 << 2; }
  static unsigned int selectC4() { return 1 << 3; }
  static unsigned int selectC5() { return 1 << 4; }
  static unsigned int selectC6() { return 1 << 5; }
  static unsigned int selectC7() { return 1 << 6; }
  static unsigned int selectC8() { return 1 << 7; }
  static unsigned int selectC9() { return 1 << 8; }
  static unsigned int selectC10() { return 1 << 9; }
  static unsigned int selectSx() { return 1 << 10; }
  static unsigned int selectSy() { return 1 << 11; }
  static unsigned int selectPx() { return 1 << 12; }
  static unsigned int selectPy() { return 1 << 13; }
};
END_VISP_NAMESPACE
#else
BEGIN_VISP_NAMESPACE
class vpMomentDatabase;

class VISP_EXPORT vpFeatureMomentCInvariant : public vpFeatureMoment
{
private:
  std::vector<vpMatrix> LI;
 
public:
  vpFeatureMomentCInvariant(vpMomentDatabase &data_base, double A_, double B_, double C_,
                            vpFeatureMomentDatabase *featureMoments = nullptr)
    : vpFeatureMoment(data_base, A_, B_, C_, featureMoments, 16), LI(16)
  { }
 
  void compute_interaction() VP_OVERRIDE;
  const std::string momentName() const VP_OVERRIDE
  {
    return "vpMomentCInvariant";
  }

  const std::string name() const VP_OVERRIDE
  {
    return "vpFeatureMomentCInvariant";
  }

  static unsigned int selectC1() { return 1 << 0; }
  static unsigned int selectC2() { return 1 << 1; }
  static unsigned int selectC3() { return 1 << 2; }
  static unsigned int selectC4() { return 1 << 3; }
  static unsigned int selectC5() { return 1 << 4; }
  static unsigned int selectC6() { return 1 << 5; }
  static unsigned int selectC7() { return 1 << 6; }
  static unsigned int selectC8() { return 1 << 7; }
  static unsigned int selectC9() { return 1 << 8; }
  static unsigned int selectC10() { return 1 << 9; }
  static unsigned int selectSx() { return 1 << 10; }
  static unsigned int selectSy() { return 1 << 11; }
  static unsigned int selectPx() { return 1 << 12; }
  static unsigned int selectPy() { return 1 << 13; }

  void printLsofInvariants(std::ostream &os) const;
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpFeatureMomentCInvariant &featcinv);
};
END_VISP_NAMESPACE
#endif
#endif