Visual Servoing Platform version 3.5.0
vpFeatureMomentDatabase.cpp
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30 *
31 * Description:
32 * Pseudo-database used to handle dependencies between moment features.
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
38
39#include <iostream>
40#include <typeinfo>
41#include <visp3/core/vpConfig.h>
42#include <visp3/visual_features/vpFeatureMoment.h>
43#include <visp3/visual_features/vpFeatureMomentDatabase.h>
44
51void vpFeatureMomentDatabase::add(vpFeatureMoment &featureMoment, char *name)
52{
53 featureMomentsDataBase.insert(std::pair<const char *, vpFeatureMoment *>((const char *)name, &featureMoment));
54}
55
64vpFeatureMoment &vpFeatureMomentDatabase::get(const char *type, bool &found)
65{
66 std::map<const char *, vpFeatureMoment *, vpFeatureMomentDatabase::cmp_str>::const_iterator it =
67 featureMomentsDataBase.find(type);
68
69 found = (it != featureMomentsDataBase.end());
70 return *(it->second);
71}
72
80void vpFeatureMomentDatabase::updateAll(double A, double B, double C)
81{
82 std::map<const char *, vpFeatureMoment *, vpFeatureMomentDatabase::cmp_str>::const_iterator itr;
83#ifdef VISP_HAVE_OPENMP
84 std::vector<vpFeatureMoment *> values;
85 values.reserve(featureMomentsDataBase.size());
86 for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
87 values.push_back((*itr).second);
88 }
89#pragma omp parallel for shared(A, B, C)
90 for (int i = 0; i < (int)values.size(); i++) {
91 unsigned int i_ = static_cast<unsigned int>(i);
92 values[i_]->update(A, B, C);
93 }
94#else
95 for (itr = featureMomentsDataBase.begin(); itr != featureMomentsDataBase.end(); ++itr) {
96 (*itr).second->update(A, B, C);
97 }
98#endif
99}
100
101/*
102std::ostream & operator<<(std::ostream & os, const vpFeatureMomentDatabase&
103m){ std::map<const
104char*,vpMoment*,vpFeatureMomentDatabase::cmp_str>::const_iterator itr; os <<
105"{";
106
107 for(itr = m.featureMoments.begin(); itr != m.featureMoments.end(); itr++){
108 os << (*itr).first << ": [" << *((*itr).second) << "],";
109 }
110 os << "}";
111
112 return os;
113}*/
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0)
vpFeatureMoment & get(const char *type, bool &found)
This class defines shared system methods/attributes for 2D moment features but no functional code....