42 #include <visp/vpConfig.h>
44 #ifdef VISP_MOMENTS_COMBINE_MATRICES
49 #include <visp/vpMomentObject.h>
50 #include <visp/vpFeatureMomentGravityCenter.h>
51 #include <visp/vpFeatureMomentBasic.h>
52 #include <visp/vpFeatureMomentDatabase.h>
64 bool found_featuremoment_basic;
86 #include <visp/vpMomentObject.h>
87 #include <visp/vpMomentDatabase.h>
88 #include <visp/vpMomentGravityCenter.h>
89 #include <visp/vpMomentCentered.h>
90 #include <visp/vpFeatureMomentGravityCenter.h>
91 #include <visp/vpMomentObject.h>
104 bool found_moment_centered;
105 bool found_moment_gravity;
125 double n11 = momentCentered.
get(1,1)/momentObject.
get(0,0);
126 double n20 = momentCentered.
get(2,0)/momentObject.
get(0,0);
127 double n02 = momentCentered.
get(0,2)/momentObject.
get(0,0);
128 double Xg = momentGravity.
getXg();
129 double Yg = momentGravity.
getYg();
130 double Zg_inv =
A*Xg+
B*Yg+
C;
131 double Xgvz = Xg*Zg_inv+
A*epsilon*n20+
B*epsilon*n11;
132 double Ygvz = Yg*Zg_inv+
A*epsilon*n11+
B*epsilon*n02;
133 double Xgwx = Xg*Yg+epsilon*n11;
135 double Xgwy = -(1+Xg*Xg+epsilon*n20);
136 double Ygwx = 1+Yg*Yg+epsilon*n02;