ViSP  2.10.0
Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
vpFeatureMomentGravityCenter Class Reference
ViSP capabilities » Building a visual servoing task » Visual features » 2D visual features

#include <vpFeatureMomentGravityCenter.h>

+ Inheritance diagram for vpFeatureMomentGravityCenter:

Public Types

enum  vpBasicFeatureDeallocatorType { user, vpServo }
 

Public Member Functions

 vpFeatureMomentGravityCenter (vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)
 
void compute_interaction ()
 
const char * momentName () const
 
const char * name () const
 
vpBasicFeature * duplicate () const
 
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
 
int getDimension (unsigned int select=FEATURE_ALL) const
 
void init (void)
 
vpMatrix interaction (const unsigned int select=FEATURE_ALL)
 
void linkTo (vpFeatureMomentDatabase &featureMoments)
 
void print (const unsigned int select=FEATURE_ALL) const
 
void update (double A, double B, double C)
 
virtual void printDependencies (std::ostream &os) const
 
unsigned int dimension_s ()
 
virtual double operator[] (const unsigned int i) const
 
vpColVector get_s (unsigned int select=FEATURE_ALL) const
 
virtual vpColVector error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
 
void setFlags ()
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
vpBasicFeatureDeallocatorType getDeallocate ()
 

Static Public Member Functions

static unsigned int selectXg ()
 
static unsigned int selectYg ()
 
static unsigned int selectAll ()
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 
static const unsigned int FEATURE_ALL = 0xffff
 

Protected Member Functions

const vpMoment & getMoment () const
 
void resetFlags ()
 

Protected Attributes

const vpMoment * moment
 
vpMomentDatabase & moments
 
vpFeatureMomentDatabase * featureMomentsDataBase
 
std::vector< vpMatrix > interaction_matrices
 
double A
 
double B
 
double C
 
char _name [255]
 
vpColVector s
 
unsigned int dim_s
 
bool * flags
 
unsigned int nbParameters
 
vpBasicFeatureDeallocatorType deallocate
 

Detailed Description

Functionality computation for gravity center moment feature. Computes the interaction matrix associated with vpMomentGravityCenter.

The interaction matrix for the is defined in [24], equation (16). It allows to compute the interaction matrices for $ (x_g,y_g) $.

These interaction matrices may be selected afterwards by calling vpFeatureMomentGravityCenter::interaction(). The selection is done by the following methods: vpFeatureMomentGravityCenter::selectXg for $ L_{x_{g}} $ and vpFeatureMomentGravityCenter::selectYg for $ L_{y_{g}} $.

You can use the selectors vpFeatureMomentGravityCenter::selectXg or vpFeatureMomentGravityCenter::selectYg as follows:

task.addFeature(db_src.getFeatureGravityNormalized(),db_dst.getFeatureGravityNormalized(),vpFeatureMomentGravityCenter::selectXg() | vpFeatureMomentGravityCenter::selectYg());

This feature depends on:

Minimum vpMomentObject order needed to compute this feature: 2.

Definition at line 207 of file vpFeatureMomentGravityCenter.h.

Member Enumeration Documentation

enum vpBasicFeature::vpBasicFeatureDeallocatorType
inherited

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 154 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureMomentGravityCenter::vpFeatureMomentGravityCenter ( vpMomentDatabase &  data_base,
double  A_,
double  B_,
double  C_,
vpFeatureMomentDatabase *  featureMoments = NULL 
)
inline

Initializes the feature with information about the database of moment primitives, the object plane and feature database.

Parameters
data_base: Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
A_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
B_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
C_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
featureMoments: Feature database.

Definition at line 217 of file vpFeatureMomentGravityCenter.h.

Member Function Documentation

void vpFeatureMomentGravityCenter::compute_interaction ( void  )
virtual

Computes interaction matrix for gravity center moment. Called internally. The moment primitives must be computed before calling this. This feature depends on:

Minimum vpMomentObject order needed to compute this feature: 2.

Reimplemented from vpFeatureMoment.

Definition at line 103 of file vpFeatureMomentGravityCenter.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMomentObject::get(), vpMoment::getObject(), vpMomentObject::getType(), vpMomentGravityCenter::getXg(), vpMomentGravityCenter::getYg(), vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, vpFeatureMoment::moments, and vpException::notInitialized.

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

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

Definition at line 102 of file vpBasicFeature.h.

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

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 115 of file vpFeatureMoment.cpp.

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

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 128 of file vpFeatureMoment.cpp.

vpBasicFeature * vpFeatureMoment::duplicate ( ) const
virtualinherited

Duplicates the feature into a vpGenericFeature harbouring the same properties. The resulting feature is of vpMomentGenericFeature type. While it still can compute interaction matrices and has acces to it's moment primitive, it has lost all precise information about its precise type and therefore cannot be used in a feature database.

Returns
The corresponding feature.

Implements vpBasicFeature.

Definition at line 213 of file vpFeatureMoment.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpBasicFeature::dim_s, vpFeatureMoment::featureMomentsDataBase, vpBasicFeature::flags, vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, vpFeatureMoment::moments, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

vpColVector vpBasicFeature::error ( const vpBasicFeature &  s_star,
const unsigned int  select = FEATURE_ALL 
)
virtualinherited

Compute the error between two visual features from a subset of the possible features.

Reimplemented in vpFeatureTranslation, vpFeatureThetaU, vpFeaturePointPolar, vpFeaturePoint3D, vpFeatureLine, vpFeaturePoint, vpFeatureDepth, vpGenericFeature, vpFeatureMomentAlpha, vpFeatureLuminance, vpFeatureVanishingPoint, vpFeatureEllipse, and vpFeatureSegment.

Examples:
manServoMomentsSimple.cpp.

Definition at line 173 of file vpBasicFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::get_s(), and vpBasicFeature::s.

Referenced by vpServo::computeError().

vpColVector vpBasicFeature::get_s ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector $\bf s$.

Examples:
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 135 of file vpBasicFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpMatrix::stackMatrices().

Referenced by vpServo::computeError(), vpBasicFeature::error(), vpGenericFeature::error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), and vpFeatureTranslation::error().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 164 of file vpBasicFeature.h.

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

Feature's dimension according to selection.

Definition at line 88 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, and vpBasicFeature::FEATURE_LINE.

const vpMoment& vpFeatureMoment::getMoment ( ) const
inlineprotectedinherited

Definition at line 149 of file vpFeatureMoment.h.

void vpFeatureMoment::init ( void  )
virtualinherited

Initialize common parameters for moment features.

Implements vpBasicFeature.

Definition at line 60 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), vpFeatureMoment::moment, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

vpMatrix vpFeatureMoment::interaction ( const unsigned int  select = FEATURE_ALL)
virtualinherited

Retrieves the interaction matrix. No computation is done.

Parameters
select: Feature selector.
Returns
The corresponding interaction matrix.

There is no rule about the format of the feature selector. It may be different for different features. For example, for vpFeatureMomentBasic or vpFeatureMomentCentered features, select may refer to the $ (i,j) $ couple in the $ j \times order + i $ format, but for vpFeatureMomentCInvariant the selector allows to select couples $ (i,j,k,l...) $ in the following format: 1 << i

  • 1 << j + 1 << k + 1 << l.

Implements vpBasicFeature.

Definition at line 193 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpFeatureMoment::interaction_matrices, and vpMatrix::stackMatrices().

Referenced by vpFeatureMomentCentered::compute_interaction().

void vpFeatureMoment::linkTo ( vpFeatureMomentDatabase &  featureMoments)
inherited

Links the feature to the feature's database. NB: The feature's database is different from the moment's database.

Parameters
featureMoments: database in which the moment features are stored.

Definition at line 236 of file vpFeatureMoment.cpp.

References vpFeatureMoment::_name, vpFeatureMoment::featureMomentsDataBase, vpException::memoryAllocationError, and vpFeatureMoment::name().

Referenced by vpFeatureMomentCommon::vpFeatureMomentCommon().

const char* vpFeatureMomentGravityCenter::momentName ( ) const
inlinevirtual

Associated moment name.

Implements vpFeatureMoment.

Definition at line 224 of file vpFeatureMomentGravityCenter.h.

const char* vpFeatureMomentGravityCenter::name ( ) const
inlinevirtual

Feature name.

Implements vpFeatureMoment.

Definition at line 228 of file vpFeatureMomentGravityCenter.h.

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

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

Definition at line 113 of file vpBasicFeature.h.

void vpFeatureMoment::print ( const unsigned int  select = FEATURE_ALL) const
virtualinherited

Outputs the content of the feature: it's corresponding selected moments.

Implements vpBasicFeature.

Definition at line 102 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and vpBasicFeature::s.

void vpFeatureMoment::printDependencies ( std::ostream &  os) const
virtualinherited

Interface function to display the moments and other interaction matrices on which a particular vpFeatureMoment is dependent upon Not made pure to maintain compatibility Recommended : Types inheriting from vpFeatureMoment should implement this function

Definition at line 274 of file vpFeatureMoment.cpp.

void vpBasicFeature::resetFlags ( )
protectedinherited

Definition at line 153 of file vpBasicFeature.cpp.

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

Referenced by vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), and vpFeatureTranslation::interaction().

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 116 of file vpBasicFeature.h.

static unsigned int vpFeatureMomentGravityCenter::selectXg ( )
inlinestatic

Shortcut selector for $x_g$.

Definition at line 233 of file vpFeatureMomentGravityCenter.h.

static unsigned int vpFeatureMomentGravityCenter::selectYg ( )
inlinestatic

Shortcut selector for $y_g$.

Definition at line 238 of file vpFeatureMomentGravityCenter.h.

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 163 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 163 of file vpBasicFeature.cpp.

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

void vpFeatureMoment::update ( double  A_,
double  B_,
double  C_ 
)
inherited

Updates the interaction matrices with the image plane the camera is facing. The plane must be in the format: $ \frac{1}{Z}=Ax+By+C $ . The moment primitives MUST be updated before calling this function.

This method also computes the interaction matrix. Therefore, you must call vpFeatureMoment::update before calling vpFeatureMoment::interaction.

Attention
The behaviour of this method is not the same as vpMoment::update which only acknowledges the new object. This method also computes the interaction matrices.
Parameters
A_: A coefficient of the plane.
B_: B coefficient of the plane.
C_: C coefficient of the plane.

Definition at line 149 of file vpFeatureMoment.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpFeatureMoment::compute_interaction(), vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), vpMomentDatabase::get(), vpFeatureMoment::moment, vpFeatureMoment::momentName(), vpFeatureMoment::moments, vpBasicFeature::nbParameters, vpException::notInitialized, vpColVector::resize(), and vpBasicFeature::s.

Referenced by vpFeatureMomentCommon::updateAll().

Member Data Documentation

char vpFeatureMoment::_name[255]
protectedinherited

Definition at line 157 of file vpFeatureMoment.h.

Referenced by vpFeatureMoment::linkTo().

double vpFeatureMoment::A
protectedinherited

Definition at line 154 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

double vpFeatureMoment::B
protectedinherited

Definition at line 155 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

double vpFeatureMoment::C
protectedinherited

Definition at line 156 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate
protectedinherited

Definition at line 161 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().

unsigned int vpBasicFeature::dim_s
protectedinherited

Dimension of the visual feature.

Definition at line 93 of file vpBasicFeature.h.

Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpFeatureLuminance::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureEllipse::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeatureMoment::init(), vpFeaturePoint::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureLuminance::interaction(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpGenericFeature::print(), vpFeatureMoment::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().

const unsigned int vpBasicFeature::FEATURE_ALL = 0xffff
staticinherited

Definition at line 87 of file vpBasicFeature.h.

Referenced by vpFeatureDepth::error(), vpFeatureDepth::interaction(), and vpFeatureDepth::print().

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 85 of file vpBasicFeature.h.

Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::print(), and vpFeatureMoment::print().

vpFeatureMomentDatabase* vpFeatureMoment::featureMomentsDataBase
protectedinherited

Definition at line 151 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::linkTo().

bool* vpBasicFeature::flags
protectedinherited

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

Definition at line 96 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureEllipse::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeatureMoment::init(), vpFeaturePoint::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::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(), vpFeatureEllipse::set_x(), vpFeatureVanishingPoint::set_x(), vpFeatureDepth::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureLuminance::set_Z(), vpFeatureDepth::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().

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices
protectedinherited

Definition at line 152 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), and vpFeatureMoment::interaction().

const vpMoment* vpFeatureMoment::moment
protectedinherited

Definition at line 148 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), vpFeatureMoment::init(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), and vpFeatureMoment::update().

vpMomentDatabase& vpFeatureMoment::moments
protectedinherited

Definition at line 150 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

unsigned int vpBasicFeature::nbParameters
protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureEllipse::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeatureMoment::init(), vpFeaturePoint::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 91 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpBasicFeature::error(), vpFeatureEllipse::error(), vpFeatureVanishingPoint::error(), vpFeatureLuminance::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeatureDepth::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpFeatureDepth::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(), vpFeatureEllipse::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpGenericFeature::init(), vpFeatureMoment::init(), vpFeaturePoint::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(), vpFeatureDepth::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(), vpFeatureEllipse::set_x(), vpFeatureVanishingPoint::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().