#include <vpFeatureMomentCInvariant.h>

Inheritance diagram for vpFeatureMomentCInvariant:

Public Types
enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpFeatureMomentCInvariant (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)

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	selectC1 ()

static unsigned int	selectC2 ()

static unsigned int	selectC3 ()

static unsigned int	selectC4 ()

static unsigned int	selectC5 ()

static unsigned int	selectC6 ()

static unsigned int	selectC7 ()

static unsigned int	selectC8 ()

static unsigned int	selectC9 ()

static unsigned int	selectC10 ()

static unsigned int	selectSx ()

static unsigned int	selectSy ()

static unsigned int	selectPx ()

static unsigned int	selectPy ()

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 2D rotation/translation/scale non-symmetric invariant moment feature. Computes the interaction matrix associated with vpMomentCInvariant.

The interaction matrix for the moment feature can be deduced from [23], equations (9). To do so, one must derive them and obtain a combination of interaction matrices by using (1). It allows to compute the interaction matrix for $c_i, i \in [1..10]$ .

These interaction matrices may be selected afterwards by calling vpFeatureMomentCInvariant::interaction(). The selection by the vpFeatureMomentCInvariant::selectCi method for $L_{c_i}$ . For example, to select $L_{c_1}$ you should input vpFeatureMomentCInvariant::selectC1() into ViSP's selector. Special matrices for features $ S_x $ and $ S_y $ are selected by vpFeatureMomentCInvariant::selectSx() and vpFeatureMomentCInvariant::selectSy() respectively. Special matrices for features $ P_x $ and $ P_y $ are selected by vpFeatureMomentCInvariant::selectPx() and vpFeatureMomentCInvariant::selectPy() respectively.

These features are often used in moment-based visual servoing to control the two out-of-plane rotations.

Be careful about the nature of your object when selecting the right features. Use $L_{S_{x}}$ and $L_{S_{y}}$ when you're dealing with a symmetric object all other features otherwise.

Minimum vpMomentObject order needed to compute this feature: 6. This is the highest ordrer required by classic features.

This feature depends on:

An example of how to use vpFeatureMomentCInvariant in a complete visual servoing example is given in vpFeatureMomentCommon.

Definition at line 200 of file vpFeatureMomentCInvariant.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

vpFeatureMomentCInvariant::vpFeatureMomentCInvariant	(	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 211 of file vpFeatureMomentCInvariant.h.

Member Function Documentation

void vpFeatureMomentCInvariant::compute_interaction ( void )

virtual

Computes interaction matrix for space-scale-rotation invariants. Called internally. The moment primitives must be computed before calling this. This feature depends on:

Reimplemented from vpFeatureMoment.

Definition at line 208 of file vpFeatureMomentCInvariant.cpp.

References vpMomentObject::DISCRETE, vpFeatureMoment::featureMomentsDataBase, vpMomentCentered::get(), vpMomentDatabase::get(), vpFeatureMomentDatabase::get(), vpMomentObject::get(), vpMomentCInvariant::getC(), vpMomentCInvariant::getI(), vpMomentCInvariant::getII(), vpMoment::getObject(), vpMomentCInvariant::getS(), vpMomentObject::getType(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), 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 161 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 123 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().

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* vpFeatureMomentCInvariant::momentName ( ) const

inlinevirtual

associated moment name

Implements vpFeatureMoment.

Definition at line 217 of file vpFeatureMomentCInvariant.h.

const char* vpFeatureMomentCInvariant::name ( ) const

inlinevirtual

feature name

Implements vpFeatureMoment.

Definition at line 221 of file vpFeatureMomentCInvariant.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 vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 141 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 vpFeatureMomentCInvariant::selectC1 ( )

inlinestatic

Shortcut selector for $C_1$ .

Definition at line 226 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC10 ( )

inlinestatic

Shortcut selector for $C_{10}$ .

Definition at line 262 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC2 ( )

inlinestatic

Shortcut selector for $C_2$ .

Definition at line 230 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC3 ( )

inlinestatic

Shortcut selector for $C_3$ .

Definition at line 234 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC4 ( )

inlinestatic

Shortcut selector for $C_4$ .

Examples:: manServoMomentsSimple.cpp.

Definition at line 238 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC5 ( )

inlinestatic

Shortcut selector for $C_5$ .

Definition at line 242 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC6 ( )

inlinestatic

Shortcut selector for $C_6$ .

Examples:: manServoMomentsSimple.cpp.

Definition at line 246 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC7 ( )

inlinestatic

Shortcut selector for $C_7$ .

Definition at line 250 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC8 ( )

inlinestatic

Shortcut selector for $C_8$ .

Definition at line 254 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectC9 ( )

inlinestatic

Shortcut selector for $C_9$ .

Definition at line 258 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectPx ( )

inlinestatic

Shortcut selector for $P_x$ .

Definition at line 274 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectPy ( )

inlinestatic

Shortcut selector for $P_y$ .

Definition at line 278 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectSx ( )

inlinestatic

Shortcut selector for $S_x$ .

Definition at line 266 of file vpFeatureMomentCInvariant.h.

static unsigned int vpFeatureMomentCInvariant::selectSy ( )

inlinestatic

Shortcut selector for $S_y$ .

Definition at line 270 of file vpFeatureMomentCInvariant.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 151 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(), vpFeatureMomentGravityCenter::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(), vpFeatureMomentGravityCenter::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(), vpFeatureMomentGravityCenter::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.

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 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.

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices

protectedinherited

Definition at line 152 of file vpFeatureMoment.h.

const vpMoment* vpFeatureMoment::moment

protectedinherited

Definition at line 148 of file vpFeatureMoment.h.

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(), compute_interaction(), vpFeatureMomentGravityCenter::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.

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