Some question about photometric moments visual serving #1054

Thank you very much for the open source code of visual servoing provided by you. I am currently conducting research on visual servoing using image moment. By reading the source code related to image moment servoing, I feel the complexity of moment feature and its corresponding interaction matrix analytic form calculation At the same time, I also feel the advantages of image moment servo, such as large convergence range, strong decoupling ability, etc., but I recently found an article called ''A Direct Dense Visual Servoing Approach using Photometric Moments'' https://ieeexplore.ieee.org/abstract/document/8372943, which is from Manikandan Bakthavatchalam . The article gives the analytical form of the visual servo of the photometric moment servo with spatial weighting function. I read the article carefully. If I want to change it to the form of this article, it involves changes to the basic moment m00, m01, etc., high-order moment features and All the corresponding interaction matrices have to be changed. Because of the heavy workload, I would like to ask if you have added relevant code changes to be released. If so, I would like to thank you very much if you can provide the corresponding code. If not I will take the time to complete the code implementation of the photometric moment servo with weights and share it with you, thanks.