% M = HU_MOMENTS (IM)
%
% Calculates 7 moments of Hu on image IM, invariant to translation, 
% rotation and scale.
%
% After: M. Sonka et al., Image processing, analysis and machine vision.

function m = hu_moments (im)

	p = [ 1 0 2 1 2 0 3 ];
	q = [ 1 2 0 2 1 3 0 ];

  n = moments(im,p,q,1,1);
   
  m(1) = n(2) + n(3);
  m(2) = (n(3) - n(2))^2   + 4*n(1)^2;
  m(3) = (n(7) - 3*n(4))^2 + (3*n(5) - n(6))^2;
  m(4) = (n(7) +   n(4))^2 + (  n(5) + n(6))^2;
  m(5) = (  n(7) - 3*n(4)) * (n(7) + n(4)) * ...
           (  (n(7) + n(4))^2 - 3*(n(5) + n(6))^2) + ...
         (3*n(5) -   n(6)) * (n(5) + n(6)) * ...
           (3*(n(7) + n(4))^2 -   (n(5) + n(6))^2);
  m(6) = (n(3) - n(2)) * ((n(7) + n(4))^2 - (n(5) + n(6))^2) + ...
          4*n(1) * (n(7)+n(4)) * (n(5)+n(6));      
  m(7) = (3*n(5) -   n(6)) * (n(7) + n(4)) * ...
           (  (n(7) + n(4))^2 - 3*(n(5) + n(6))^2) - ...
         (  n(7) - 3*n(4)) * (n(5) + n(6)) * ...
           (3*(n(7) + n(4))^2 -   (n(5) + n(6))^2);
           
return;