Visual Servoing Platform  version 3.2.0 under development (2018-10-19)

#include <visp3/visual_features/vpFeatureDepth.h>

+ Inheritance diagram for vpFeatureDepth:

Public Types

enum  { FEATURE_ALL = 0xffff }
 
enum  vpBasicFeatureDeallocatorType { user, vpServo }
 

Public Member Functions

 vpFeatureDepth ()
 
virtual ~vpFeatureDepth ()
 
void buildFrom (const double x, const double y, const double Z, const double LogZoverZstar)
 
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
vpFeatureDepthduplicate () const
 
vpColVector error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
 
double get_x () const
 
double get_y () const
 
double get_Z () const
 
double get_LogZoverZstar () const
 
void init ()
 
vpMatrix interaction (const unsigned int select=FEATURE_ALL)
 
void print (const unsigned int select=FEATURE_ALL) const
 
void set_x (const double x)
 
void set_y (const double y)
 
void set_Z (const double Z)
 
void set_LogZoverZstar (const double LogZoverZstar)
 
void set_xyZLogZoverZstar (const double x, const double y, const double Z, const double logZZs)
 
Inherited functionalities from vpBasicFeature
unsigned int dimension_s ()
 
vpColVector get_s (unsigned int select=FEATURE_ALL) const
 
vpBasicFeatureDeallocatorType getDeallocate ()
 
unsigned int getDimension (const unsigned int select=FEATURE_ALL) const
 
virtual double operator[] (const unsigned int i) const
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
void setFlags ()
 

Static Public Member Functions

static unsigned int selectAll ()
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 

Protected Member Functions

void resetFlags ()
 

Protected Attributes

vpColVector s
 
unsigned int dim_s
 
bool * flags
 
unsigned int nbParameters
 
vpBasicFeatureDeallocatorType deallocate
 

Detailed Description

Class that defines a 3D point visual feature $ s$ which is composed by one parameters that is $ log( \frac{Z}{Z^*}) $ that defines the current depth relative to the desired depth. Here $ Z $ represents the current depth and $ Z^* $ the desired depth.

In this class $ x $ and $ y $ are the 2D coordinates in the camera frame and are given in meter. $ x $, $ y $ and $ Z $ are needed during the computation of the interaction matrix $ L $.

The visual features can be set easily thanks to the buildFrom() method.

As the visual feature $ s $ represents the current depth relative to the desired depth, the desired visual feature $ s^* $ is set to zero. Once the value of the visual feature is set, the interaction() method allows to compute the interaction matrix $ L $ associated to the visual feature, while the error() method computes the error vector $(s - s^*)$ between the current visual feature and the desired one which is here set to zero.

The code below shows how to create a eye-in hand visual servoing task using a 3D depth feature $ log( \frac{Z}{Z^*}) $ that corresponds to the current depth relative to the desired depth. To control six degrees of freedom, at least five other features must be considered. First we create a current ( $s$) 3D depth feature. Then we set the task to use the interaction matrix associated to the current feature $L_s$. And finally we compute the camera velocity $v=-\lambda \; L_s^+ \; (s-s^*)$. The current feature $s$ is updated in the while() loop.

#include <visp3/visual_features/vpFeatureDepth.h>
#include <visp3/vs/vpServo.h>
int main()
{
vpServo task; // Visual servoing task
vpFeatureDepth s; //The current point feature.
//Set the current parameters x, y, Z and the desired depth Zs
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
double Zs; //You have to define the desired depth Zs.
//Set the point feature thanks to the current parameters.
s.buildfrom(x, y, Z, log(Z/Zs));
// Set eye-in-hand control law.
// The computed velocities will be expressed in the camera frame
// Interaction matrix is computed with the desired visual features sd
// Add the 3D depth feature to the task
task.addFeature(s); // s* is here considered as zero
// Control loop
for ( ; ; ) {
// The new parameters x, y and Z must be computed here.
// Update the current point visual feature
s.buildfrom(x, y, Z, log(Z/Zs));
// compute the control law
vpColVector v = task.computeControlLaw(); // camera velocity
}
return 0;
}

If you want to build your own control law, this other example shows how to create a current ( $s$) and desired ( $s^*$) 2D point visual feature, compute the corresponding error vector $(s-s^*)$ and finally build the interaction matrix $L_s$.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpFeatureDepth.h>
int main()
{
vpFeatureDepth s; //The current point feature.
//Set the current parameters x, y, Z and the desired depth Zs
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
double Zs; //You have to define the desired depth Zs.
//Set the point feature thanks to the current parameters.
s.buildfrom(x, y, Z, log(Z/Zs));
// Compute the interaction matrix L_s for the current point feature
// Compute the error vector (s-s*) for the point feature with s* considered as 0.
vpColVector s_star(1); // The dimension is 1.
s_star(1) = 0; // The value of s* is 0.
s.error(s_star);
}
Examples:
mbot-apriltag-2D-half-vs.cpp, servoAfma62DhalfCamVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 160 of file vpFeatureDepth.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 82 of file vpBasicFeature.h.

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 88 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureDepth::vpFeatureDepth ( )

Default constructor that build a visual feature.

Definition at line 94 of file vpFeatureDepth.cpp.

References init().

Referenced by duplicate().

virtual vpFeatureDepth::~vpFeatureDepth ( )
inlinevirtual

Member Function Documentation

void vpFeatureDepth::buildFrom ( const double  x_,
const double  y_,
const double  Z_,
const double  LogZoverZstar 
)

Build a 3D depth visual feature from the point coordinates $ x $ and $ y $ given in the camera frame, $ Z $ which describes the depth and $ log(\frac{Z}{Z^*}) $ which represents the logarithm of the current depth relative to the desired depth.

Parameters
x_: The $ x $ parameter.
y_: The $ y $ parameter.
Z_: The $ Z $ parameter.
LogZoverZstar: The $ log(\frac{Z}{Z^*}) $ parameter.
Examples:
mbot-apriltag-2D-half-vs.cpp, servoAfma62DhalfCamVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 372 of file vpFeatureDepth.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::s, and vpERROR_TRACE.

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

Return the dimension of the feature vector $\bf s$.

Definition at line 110 of file vpBasicFeature.h.

References vpColor::green.

void vpFeatureDepth::display ( const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 420 of file vpFeatureDepth.cpp.

References vpERROR_TRACE.

void vpFeatureDepth::display ( const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 437 of file vpFeatureDepth.cpp.

References vpERROR_TRACE.

vpFeatureDepth * vpFeatureDepth::duplicate ( ) const
virtual

Create an object with the same type.

s_star = s.duplicate(); // s_star is now a vpFeatureDepth

Implements vpBasicFeature.

Definition at line 409 of file vpFeatureDepth.cpp.

References vpFeatureDepth().

vpColVector vpFeatureDepth::error ( const vpBasicFeature s_star,
const unsigned int  select = FEATURE_ALL 
)
virtual

Compute the error $ (s-s^*)$ between the current and the desired visual features from a subset of the possible features.

Since this visual feature $ s $ represent the current depth relative to the desired depth, the desired visual feature $ s^* $ should be zero. Thus, the error is here equal to the current visual feature $ s $.

Parameters
s_star: Desired visual visual feature that should be equal to zero.
select: unuseful in the case of vpFeatureDepth. Always set to FEATURE_ALL.
Returns
The error $ (s-s^*)$ between the current and the desired visual feature.
Exceptions
vpFeatureException::badInitializationError: If the desired visual feature $ s^* $ is not equal to zero.

The code below shows how to use this method:

// Creation of the current feature s
// Creation of the desired feature s^*. By default this feature is
// initialized to zero
s_star.setLogZoverZstar(0)
// Compute the interaction matrix for the ThetaU_z feature
// Compute the error vector (s-s*) for the ThetaU_z feature
s.error(s_star);

Reimplemented from vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 317 of file vpFeatureDepth.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::FEATURE_ALL, vpBasicFeature::get_s(), vpBasicFeature::s, vpColVector::sumSquare(), and vpERROR_TRACE.

double vpFeatureDepth::get_LogZoverZstar ( ) const

Get the value of $ log(\frac{Z}{Z^*}) $ which represents the logarithm of the current depth relative to the desired depth.

Returns
The value of $ log(\frac{Z}{Z^*}) $.

Definition at line 110 of file vpFeatureDepth.cpp.

References vpBasicFeature::s.

Referenced by print().

double vpFeatureDepth::get_x ( ) const

Get the value of $ x $ which represents the x coordinate of the point in the camera frame.

Returns
The value of $ x $.

Definition at line 130 of file vpFeatureDepth.cpp.

Referenced by interaction(), and print().

double vpFeatureDepth::get_y ( ) const

Get the value of $ y $ which represents the y coordinate of the point in the camera frame.

Returns
The value of $ y $.

Definition at line 150 of file vpFeatureDepth.cpp.

Referenced by interaction(), and print().

double vpFeatureDepth::get_Z ( ) const

Get the value of $ Z $ which represents the depth in the 3D camera frame.

Returns
The value of $ Z $.

Definition at line 170 of file vpFeatureDepth.cpp.

Referenced by interaction(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 123 of file vpBasicFeature.h.

unsigned int vpBasicFeature::getDimension ( const unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 100 of file vpBasicFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.

Referenced by vpFeatureMoment::vpFeatureMoment().

void vpFeatureDepth::init ( void  )
virtual

Initialize the memory space requested for 3D depth visual feature.

Implements vpBasicFeature.

Definition at line 75 of file vpFeatureDepth.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

Referenced by vpFeatureDepth().

vpMatrix vpFeatureDepth::interaction ( const unsigned int  select = FEATURE_ALL)
virtual

Compute and return the interaction matrix $ L $. The computation is made thanks to the values of the point coordinates $ x $ and $ y $ and the depth $ Z $.

\[ L = \left[\begin{array}{cccccc} 0 & 0 & -1/Z & -y & x & 0 \end{array}\right]\]

Parameters
select: unuseful in the case of vpFeatureDepth. Always set to FEATURE_ALL.
Returns
The interaction matrix computed from the point feature.

The code below shows how to compute the interaction matrix associated to the visual feature $ s = log(\frac{Z}{Z^*}) $.

// Creation of the current feature s
s.buildFrom(0, 0, 5, log(5/1)); //The current depth is 5 metters and the
desired is 1 metter.
vpMatrix L_x = s.interaction();

Implements vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 220 of file vpFeatureDepth.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::deallocate, vpBasicFeature::FEATURE_ALL, vpBasicFeature::flags, get_x(), get_y(), get_Z(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), vpBasicFeature::user, vpERROR_TRACE, and vpTRACE.

virtual double vpBasicFeature::operator[] ( const unsigned int  i) const
inlinevirtualinherited

Return element i in the state vector (usage : x = s[i] )

Definition at line 130 of file vpBasicFeature.h.

void vpFeatureDepth::print ( const unsigned int  select = FEATURE_ALL) const
virtual

Print to stdout the values of the current visual feature $ s $.

Parameters
select: unuseful in the case of vpFeatureDepth. Always set to FEATURE_ALL.
vpFeatureDepth s; // Current visual feature s
// Creation of the current feature s
s.buildFrom(0, 0, 5, log(5/1));
s.print(); // print all the 2 components of the feature

Implements vpBasicFeature.

Definition at line 348 of file vpFeatureDepth.cpp.

References vpBasicFeature::FEATURE_ALL, get_LogZoverZstar(), get_x(), get_y(), and get_Z().

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

void vpFeatureDepth::set_LogZoverZstar ( const double  LogZoverZstar)

Set the value of $ log(\frac{Z}{Z^*}) $ which represents the logarithm of the current depth relative to the desired depth.

Parameters
LogZoverZstar: $ log(\frac{Z}{Z^*}) $ value to set.

Definition at line 102 of file vpFeatureDepth.cpp.

References vpBasicFeature::s.

Referenced by set_xyZLogZoverZstar().

void vpFeatureDepth::set_x ( const double  x_)

Set the value of $ x $ which represents the x coordinate of the point in the camera frame.

Parameters
x_: $ x $ value to set.

Definition at line 118 of file vpFeatureDepth.cpp.

References vpBasicFeature::flags.

Referenced by set_xyZLogZoverZstar().

void vpFeatureDepth::set_xyZLogZoverZstar ( const double  x_,
const double  y_,
const double  Z_,
const double  LogZoverZstar 
)

Set the value of $ x $, $ y $, $ Z $ and $ log(\frac{Z}{Z^*}) $. $ x $ and $ y $ represent the coordinates of the point in the camera frame. $ Z $ is the 3D coordinate representing the depth. $ log(\frac{Z}{Z^*}) $ represents the logarithm of the current depth relative to the desired depth.

Parameters
x_: $ x $ value to set.
y_: $ y $ value to set.
Z_: $ Z $ value to set.
LogZoverZstar: $ log(\frac{Z}{Z^*}) $ value to set.

Definition at line 184 of file vpFeatureDepth.cpp.

References vpBasicFeature::flags, vpBasicFeature::nbParameters, set_LogZoverZstar(), set_x(), set_y(), and set_Z().

void vpFeatureDepth::set_y ( const double  y_)

Set the value of $ y $ which represents the y coordinate of the point in the camera frame.

Parameters
y_: $ y $ value to set.

Definition at line 138 of file vpFeatureDepth.cpp.

References vpBasicFeature::flags.

Referenced by set_xyZLogZoverZstar().

void vpFeatureDepth::set_Z ( const double  Z_)

Set the value of $ Z $ which represents the depth in the 3D camera frame.

Parameters
Z_: $ Z $ value to set.

Definition at line 158 of file vpFeatureDepth.cpp.

References vpBasicFeature::flags.

Referenced by set_xyZLogZoverZstar().

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

void vpBasicFeature::setFlags ( )
inherited

Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.

Definition at line 141 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

Member Data Documentation

const unsigned int vpBasicFeature::FEATURE_LINE
staticinherited
Initial value:
= {
(unsigned int)(1 << 0), (unsigned int)(1 << 1), (unsigned int)(1 << 2), (unsigned int)(1 << 3),
(unsigned int)(1 << 4), (unsigned int)(1 << 5), (unsigned int)(1 << 6), (unsigned int)(1 << 7),
(unsigned int)(1 << 8), (unsigned int)(1 << 9), (unsigned int)(1 << 10), (unsigned int)(1 << 11),
(unsigned int)(1 << 12), (unsigned int)(1 << 13), (unsigned int)(1 << 14), (unsigned int)(1 << 15),
(unsigned int)(1 << 16), (unsigned int)(1 << 17), (unsigned int)(1 << 18), (unsigned int)(1 << 19),
(unsigned int)(1 << 20), (unsigned int)(1 << 21), (unsigned int)(1 << 22), (unsigned int)(1 << 23),
(unsigned int)(1 << 24), (unsigned int)(1 << 25), (unsigned int)(1 << 26), (unsigned int)(1 << 27),
(unsigned int)(1 << 28), (unsigned int)(1 << 29), (unsigned int)(1 << 30), (unsigned int)(1 << 31)}

Definition at line 80 of file vpBasicFeature.h.

Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::print(), vpFeatureMoment::print(), vpFeatureSegment::selectAlpha(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureVanishingPoint::selectX(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), vpFeatureVanishingPoint::selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

bool* vpBasicFeature::flags
protectedinherited

Ensure that all the parameters needed to compute the iteraction matrix are set.

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_x(), set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), set_xyZLogZoverZstar(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureLuminance::set_Z(), set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureLuminance::buildFrom(), buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpFeatureEllipse::error(), vpFeatureLuminance::error(), vpBasicFeature::error(), error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::error(), vpFeatureTranslation::error(), get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpFeaturePointPolar::get_theta(), vpFeatureThetaU::get_TUx(), vpFeatureThetaU::get_TUy(), vpFeatureThetaU::get_TUz(), vpFeatureTranslation::get_Tx(), vpFeatureTranslation::get_Ty(), vpFeatureTranslation::get_Tz(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeaturePoint3D::get_Z(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), init(), vpGenericFeature::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureSegment::print(), vpGenericFeature::print(), vpFeatureMoment::print(), vpFeatureLine::print(), vpFeatureThetaU::print(), vpFeatureTranslation::print(), set_LogZoverZstar(), vpFeaturePointPolar::set_rho(), vpGenericFeature::set_s(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureTranslation::set_Tx(), vpFeatureTranslation::set_Ty(), vpFeatureTranslation::set_Tz(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().