#include <vpFeatureVanishingPoint.h>

Inheritance diagram for vpFeatureVanishingPoint:

Public Types
enum	vpFeatureVanishingPointType { X = 1, Y = 2 }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
void	init ()

	vpFeatureVanishingPoint ()

virtual	~vpFeatureVanishingPoint ()

void	set_x (const double _x)

double	get_x () const

void	set_y (const double _y)

double	get_y () const

void	set_xy (const double _x, const double _y)

void	buildFrom (const double _x, const double _y)

vpMatrix	interaction (const unsigned int select=FEATURE_ALL)

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

vpColVector	error (const unsigned int select=FEATURE_ALL)

void	print (const unsigned int select=FEATURE_ALL) const

vpFeatureVanishingPoint *	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

unsigned int	dimension_s ()

virtual double	operator[] (const unsigned int i) const

vpColVector	get_s (unsigned int select=FEATURE_ALL) const

unsigned int	getDimension (const unsigned int select=FEATURE_ALL) const

void	setFlags ()

void	setDeallocate (vpBasicFeatureDeallocatorType d)

vpBasicFeatureDeallocatorType	getDeallocate ()

Static Public Member Functions
static unsigned int	selectX ()

static unsigned int	selectY ()

static unsigned int	selectAll ()

Static Public Attributes
static const unsigned int	FEATURE_LINE [32]

static const unsigned int	FEATURE_ALL = 0xffff

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 2D vanishing point visual feature (Z coordinate in 3D space is infinity).

Definition at line 69 of file vpFeatureVanishingPoint.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.

enum vpFeatureVanishingPoint::vpFeatureVanishingPointType

Enumerator
X
Y

Definition at line 72 of file vpFeatureVanishingPoint.h.

Constructor & Destructor Documentation

vpFeatureVanishingPoint::vpFeatureVanishingPoint ( )

Default constructor.

Definition at line 80 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by duplicate().

virtual vpFeatureVanishingPoint::~vpFeatureVanishingPoint ( )

inlinevirtual

Destructor.

Definition at line 90 of file vpFeatureVanishingPoint.h.

Member Function Documentation

void vpFeatureVanishingPoint::buildFrom	(	const double	_x,
		const double	_y
	)

Definition at line 244 of file vpFeatureVanishingPoint.cpp.

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

unsigned int vpBasicFeature::dimension_s ( )

inlineinherited

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

Definition at line 102 of file vpBasicFeature.h.

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

virtual

Display vanishing point feature.

Parameters

cam	: Camera parameters.
I	: Image.
color	: Color to use for the display.
thickness	: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 263 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), and vpERROR_TRACE.

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

virtual

Display vanishing point feature.

Parameters

cam	: Camera parameters.
I	: color Image.
color	: Color to use for the display.
thickness	: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 293 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), and vpERROR_TRACE.

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const

virtual

feature duplication

for memory issue (used by the vpServo class only)

Implements vpBasicFeature.

Definition at line 316 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

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

virtual

compute the error between two visual features from a subset a the possible features

compute the error between two visual features from a subset of the possible features

Reimplemented from vpBasicFeature.

Definition at line 192 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s, selectX(), selectY(), vpMatrix::stackMatrices(), and vpERROR_TRACE.

vpColVector vpFeatureVanishingPoint::error ( const unsigned int select = FEATURE_ALL )

compute the error between a visual features and zero

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().

double vpFeatureVanishingPoint::get_x ( ) const

get the point x-coordinates

Definition at line 95 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

Referenced by display(), interaction(), and print().

double vpFeatureVanishingPoint::get_y ( ) const

get the point y-coordinates

Definition at line 109 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

Referenced by display(), interaction(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 164 of file vpBasicFeature.h.

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

inherited

Get the feature vector dimension.

Definition at line 120 of file vpBasicFeature.cpp.

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

void vpFeatureVanishingPoint::init ( void )

virtual

Default initialization.

Implements vpBasicFeature.

Definition at line 64 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

vpMatrix vpFeatureVanishingPoint::interaction ( const unsigned int select = FEATURE_ALL )

virtual

compute the interaction matrix from a subset a the possible features

compute the interaction matrix from a subset of the possible features

Implements vpBasicFeature.

Definition at line 127 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpMatrix::resize(), selectX(), selectY(), vpMatrix::stackMatrices(), vpBasicFeature::user, 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 113 of file vpBasicFeature.h.

void vpFeatureVanishingPoint::print ( const unsigned int select = FEATURE_ALL ) const

virtual

print the name of the feature

Implements vpBasicFeature.

Definition at line 231 of file vpFeatureVanishingPoint.cpp.

References get_x(), get_y(), selectX(), and selectY().

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 153 of file vpBasicFeature.cpp.

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

Referenced by vpFeatureEllipse::interaction(), 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 vpFeatureVanishingPoint::selectX ( )

inlinestatic

Definition at line 119 of file vpFeatureVanishingPoint.h.

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

static unsigned int vpFeatureVanishingPoint::selectY ( )

inlinestatic

Definition at line 120 of file vpFeatureVanishingPoint.h.

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

void vpFeatureVanishingPoint::set_x ( const double _x )

set the point x-coordinates

Definition at line 88 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Referenced by vpFeatureBuilder::create(), and set_xy().

void vpFeatureVanishingPoint::set_xy	(	const double	_x,
		const double	_y
	)

set the point xy coordinates

Definition at line 117 of file vpFeatureVanishingPoint.cpp.

References set_x(), and set_y().

void vpFeatureVanishingPoint::set_y ( const double _y )

set the point y-coordinates

Definition at line 102 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Referenced by vpFeatureBuilder::create(), and set_xy().

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.

Member Data Documentation

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

protectedinherited

Definition at line 161 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::interaction(), 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.

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().

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(), buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureEllipse::init(), init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeatureMoment::init(), vpFeaturePoint::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), 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(), 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(), 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().

unsigned int vpBasicFeature::nbParameters

protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 98 of file vpBasicFeature.h.

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 91 of file vpBasicFeature.h.

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation