ViSP  2.8.0

#include <vpFeaturePoint.h>

+ Inheritance diagram for vpFeaturePoint:

Public Types

enum  vpBasicFeatureDeallocatorType { user, vpServo }
 

Public Member Functions

void init ()
 
 vpFeaturePoint ()
 
virtual ~vpFeaturePoint ()
 
void buildFrom (const double x, const double y, const double Z)
 
void set_x (const double x)
 
void set_y (const double y)
 
void set_Z (const double Z)
 
void set_xyZ (const double x, const double y, const double Z)
 
double get_x () const
 
double get_y () const
 
double get_Z () const
 
vpMatrix interaction (const unsigned int select=FEATURE_ALL)
 
vpColVector error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
 
void print (const unsigned int select=FEATURE_ALL) const
 
vpFeaturePointduplicate () 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
 

Deprecated functions

enum  vpFeaturePointType { X = 1, Y = 2 }
 
vpColVector error (const unsigned int select=FEATURE_ALL)
 

Detailed Description

Class that defines a 2D point visual feature $ s$ which is composed by two parameters that are the cartesian coordinates $ x $ and $ y $.

In this class $ x $ and $ y $ are the 2D coordinates in the image plane and are given in meter. $ Z $ which is the 3D coordinate representing the depth is also a parameter of the point. It is needed during the computation of the interaction matrix $ L $.

The visual features can be set easily from an instance of the classes vpPoint, vpDot or vpDot2. For more precision see the vpFeatureBuilder class.

Once the values of the visual features are 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.

The code below shows how to create a eye-in hand visual servoing task using a 2D point feature $(x,y)$ that correspond to the 2D coordinates of a point in the image plane. To control six degrees of freedom, at least four other features must be considered like two other point features for example. First we create a current ( $s$) 2D point 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 <visp/vpFeaturePoint.h>
#include <visp/vpServo.h>
int main()
{
vpServo task; // Visual servoing task
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
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.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
//In this case the parameter Z is not necessary because the interaction matrix is computed
//with the desired visual feature.
// 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 2D point feature to the task
task.addFeature(s, sd);
// Control loop
for ( ; ; ) {
// The new parameters x and y must be computed here.
// Update the current point visual feature
s.buildFrom(x, y, Z);
// 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 <visp/vpFeaturePoint.h>
#include <visp/vpMatrix.h>
int main()
{
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
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.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
// Compute the interaction matrix L_s for the current point feature
// You can also compute the interaction matrix L_s for the desired point feature
// The corresponding line of code is : vpMatrix L = sd.interaction();
// Compute the error vector (s-sd) for the point feature
s.error(s_star);
}

An other fully explained example is given in the Tutorial: Image-based visual servo.

Examples:
manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, testPoseFeatures.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 187 of file vpFeaturePoint.h.

Member Enumeration Documentation

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 152 of file vpBasicFeature.h.

Enumerator

Definition at line 288 of file vpFeaturePoint.h.

Constructor & Destructor Documentation

vpFeaturePoint::vpFeaturePoint ( )

Default constructor that build a visual feature.

Definition at line 98 of file vpFeaturePoint.cpp.

References init().

Referenced by duplicate().

virtual vpFeaturePoint::~vpFeaturePoint ( )
inlinevirtual

Destructor.

Definition at line 200 of file vpFeaturePoint.h.

References vpBasicFeature::flags.

Member Function Documentation

void vpFeaturePoint::buildFrom ( const double  x,
const double  y,
const double  Z 
)
unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

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

Definition at line 102 of file vpBasicFeature.h.

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

Display point feature.

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

Implements vpBasicFeature.

Examples:
servoAfma62DhalfCamVelocity.cpp.

Definition at line 485 of file vpFeaturePoint.cpp.

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

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

Display 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 516 of file vpFeaturePoint.cpp.

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

vpFeaturePoint * vpFeaturePoint::duplicate ( ) const
virtual

Create an object with the same type.

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

Implements vpBasicFeature.

Definition at line 547 of file vpFeaturePoint.cpp.

References vpFeaturePoint().

vpColVector vpFeaturePoint::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.

Parameters
s_star: Desired visual feature.
select: The error can be computed for a selection of a subset of the possible point features.
  • To compute the error for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the error vector is a 2 dimension column vector.
  • To compute the error for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the error vector is a 1 dimension column vector.
Returns
The error $ (s-s^*)$ between the current and the desired visual feature.

The code below shows how to use this method to manipulate the $ x $ subset:

// Creation of the current feature s
s.buildFrom(0, 0, 1);
// Creation of the desired feature s*
s_star.buildFrom(1, 1, 1);
// Compute the interaction matrix for the x feature
// Compute the error vector (s-s*) for the x feature

Reimplemented from vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 362 of file vpFeaturePoint.cpp.

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

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

Compute the error between a visual features and zero.

double vpFeaturePoint::get_x ( ) const

Get the value of $ x $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ x $.
Examples:
servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 150 of file vpFeaturePoint.cpp.

References vpBasicFeature::s.

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

double vpFeaturePoint::get_y ( ) const

Get the value of $ y $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ y $.
Examples:
servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 175 of file vpFeaturePoint.cpp.

References vpBasicFeature::s.

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

double vpFeaturePoint::get_Z ( ) const

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

Returns
The value of $ Z $.
Examples:
servoSimuPoint2DhalfCamVelocity2.cpp.

Definition at line 123 of file vpFeaturePoint.cpp.

Referenced by vpFeatureBuilder::create(), interaction(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 162 of file vpBasicFeature.h.

Referenced by vpServo::kill().

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

Get the feature vector dimension.

Definition at line 90 of file vpBasicFeature.cpp.

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

Referenced by vpServo::getDimension().

void vpFeaturePoint::init ( void  )
virtual

Initialize the memory space requested for 2D point visual feature.

Implements vpBasicFeature.

Definition at line 78 of file vpFeaturePoint.cpp.

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

Referenced by vpFeaturePoint().

vpMatrix vpFeaturePoint::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 features $ x $ and $ y $ and the depth $ Z $.

\[ L = \left[\begin{array}{c}L_{x} \\ L_{y}\end{array}\right] = \left[\begin{array}{cccccc} -1/Z & 0 & x/Z & xy & -(1+x^2) & y \\ 0 & -1/Z & y/Z & 1+y^2 & -xy & -x \end{array}\right]\]

Parameters
select: Selection of a subset of the possible point features.
  • To compute the interaction matrix for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the dimension of the interaction matrix is $ [2 \times 6] $
  • To compute the interaction matrix for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the returned interaction matrix is $ [1 \times 6] $ dimension.
Returns
The interaction matrix computed from the point features.

The code below shows how to compute the interaction matrix associated to the visual feature $ s = x $.

// Creation of the current feature s
s.buildFrom(0, 0, 1);

The code below shows how to compute the interaction matrix associated to the visual feature $ s = (x, y) $.

// Creation of the current feature s
s.buildFrom(0, 0, 1);

Implements vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 248 of file vpFeaturePoint.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), get_Z(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpMatrix::resize(), selectX(), selectY(), vpMatrix::stackMatrices(), 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 111 of file vpBasicFeature.h.

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

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

Parameters
select: Selection of a subset of the possible point features.
vpFeaturePoint s; // Current visual feature s
// Creation of the current feature s
s.buildFrom(0, 0, 1);
s.print(); // print all the 2 components of the feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePoint::selectX()); // print only the x component

Implements vpBasicFeature.

Definition at line 421 of file vpFeaturePoint.cpp.

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

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 114 of file vpBasicFeature.h.

static unsigned int vpFeaturePoint::selectX ( )
inlinestatic

Function used to select the $ x $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ x $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpServo task;
...
// Add the (x) subset features from the 2D point
Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DCamVelocity3.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 245 of file vpFeaturePoint.h.

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

static unsigned int vpFeaturePoint::selectY ( )
inlinestatic

Function used to select the $ y $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ y $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpServo task;
...
// Add the (y) subset features from the 2D point

Definition at line 263 of file vpFeaturePoint.h.

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

void vpFeaturePoint::set_xyZ ( const double  x,
const double  y,
const double  Z 
)

Set the value of $ x $, $ y $ and $ Z $. $ x $ and $ y $ represent the coordinates of the point in the image plan and are the parameters of the visual feature $ s $. $ Z $ is the 3D coordinate in the camera frame representing the depth.

Parameters
x: $ x $ value to set.
y: $ y $ value to set.
Z: $ Z $ value to set.

Definition at line 193 of file vpFeaturePoint.cpp.

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

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 161 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 133 of file vpBasicFeature.cpp.

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

Member Data Documentation

const unsigned int vpBasicFeature::FEATURE_ALL = 0xffff
staticinherited
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(), vpFeatureMoment::interaction(), vpGenericFeature::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(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), 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(), init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureVanishingPoint::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), 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(), set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_y(), set_y(), vpFeaturePoint3D::set_Y(), vpFeatureLuminance::set_Z(), vpFeatureDepth::set_Z(), set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpBasicFeature::vpBasicFeature(), vpFeatureLuminance::vpFeatureLuminance(), vpFeatureDepth::~vpFeatureDepth(), vpFeatureEllipse::~vpFeatureEllipse(), vpFeatureLine::~vpFeatureLine(), vpFeatureLuminance::~vpFeatureLuminance(), vpFeatureMoment::~vpFeatureMoment(), ~vpFeaturePoint(), vpFeaturePoint3D::~vpFeaturePoint3D(), vpFeaturePointPolar::~vpFeaturePointPolar(), vpFeatureSegment::~vpFeatureSegment(), vpFeatureThetaU::~vpFeatureThetaU(), vpFeatureTranslation::~vpFeatureTranslation(), and vpFeatureVanishingPoint::~vpFeatureVanishingPoint().

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 91 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureDepth::buildFrom(), 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(), 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(), get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_y(), get_y(), vpFeaturePoint3D::get_Y(), vpFeaturePoint3D::get_Z(), vpBasicFeature::getDimension(), vpFeatureEllipse::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpGenericFeature::init(), vpFeatureMoment::init(), init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), 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(), set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().