#include <visp3/visual_features/vpFeatureEllipse.h>

Inheritance diagram for vpFeatureEllipse:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
void	init ()

	vpFeatureEllipse ()

virtual	~vpFeatureEllipse ()

	vpFeatureEllipse (const double x, const double y, const double mu20, const double mu11, const double mu02)

void	buildFrom (const double x, const double y, const double mu20, const double mu11, const double mu02)

void	buildFrom (const double x, const double y, const double mu20, const double mu11, const double mu02, const double A, const double B, const double C)

void	set_x (const double x)

void	set_y (const double y)

void	set_xy (const double x, const double y)

void	setABC (const double A, const double B, const double C)

void	setMu (const double mu20, const double mu11, const double mu02)

double	get_x () const

double	get_y () const

double	getMu20 () const

double	getMu11 () const

double	getMu02 () const

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

vpFeatureEllipse *	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	selectMu20 ()

static unsigned int	selectMu11 ()

static unsigned int	selectMu02 ()

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 2D ellipse visual feature.

Examples:: servoAfma6Ellipse2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, simulateCircle2DCamVelocity.cpp, and testTrackDot.cpp.

Definition at line 60 of file vpFeatureEllipse.h.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
FEATURE_ALL

Definition at line 84 of file vpBasicFeature.h.

enum vpBasicFeature::vpBasicFeatureDeallocatorType

inherited

Indicates who should deallocate the feature.

Enumerator
user
vpServo

Definition at line 153 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureEllipse::vpFeatureEllipse ( )

Default constructor.

Definition at line 95 of file vpFeatureEllipse.cpp.

References init().

Referenced by duplicate().

virtual vpFeatureEllipse::~vpFeatureEllipse ( )

inlinevirtual

Destructor.

Definition at line 78 of file vpFeatureEllipse.h.

vpFeatureEllipse::vpFeatureEllipse	(	const double	x,
		const double	y,
		const double	mu20,
		const double	mu11,
		const double	mu02
	)

basic constructor

coordinates

Member Function Documentation

void vpFeatureEllipse::buildFrom	(	const double	x,
		const double	y,
		const double	mu20,
		const double	mu11,
		const double	mu02
	)

Examples:: servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 312 of file vpFeatureEllipse.cpp.

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

Referenced by vpFeatureBuilder::create().

void vpFeatureEllipse::buildFrom	(	const double	x,
		const double	y,
		const double	mu20,
		const double	mu11,
		const double	mu02,
		const double	A,
		const double	B,
		const double	C
	)

Definition at line 328 of file vpFeatureEllipse.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 101 of file vpBasicFeature.h.

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

virtual

Display ellipse feature.

Parameters

cam	: Camera parameters.
I	: Image on which features have to be displayed.
color	: Color used to display the feature.
thickness	: Thickness of the feature representation.

Implements vpBasicFeature.

Examples:: testTrackDot.cpp.

Definition at line 403 of file vpFeatureEllipse.cpp.

References vpFeatureDisplay::displayEllipse(), vpBasicFeature::s, and vpERROR_TRACE.

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

virtual

Display ellipse feature.

Parameters

cam	: Camera parameters.
I	: Color image on which features have to be displayed.
color	: Color used to display the feature.
thickness	: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 437 of file vpFeatureEllipse.cpp.

References vpFeatureDisplay::displayEllipse(), vpBasicFeature::s, and vpERROR_TRACE.

vpFeatureEllipse * vpFeatureEllipse::duplicate ( ) const

virtual

feature duplication

for memory issue (used by the vpServo class only)

Implements vpBasicFeature.

Definition at line 463 of file vpFeatureEllipse.cpp.

References vpFeatureEllipse().

vpColVector vpFeatureEllipse::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

Reimplemented from vpBasicFeature.

Definition at line 239 of file vpFeatureEllipse.cpp.

References vpBasicFeature::s, selectMu02(), selectMu11(), selectMu20(), selectX(), selectY(), and vpColVector::stack().

vpColVector vpFeatureEllipse::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 130 of file vpBasicFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().

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

double vpFeatureEllipse::get_x ( ) const

inline

Definition at line 100 of file vpFeatureEllipse.h.

double vpFeatureEllipse::get_y ( ) const

inline

Definition at line 101 of file vpFeatureEllipse.h.

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 163 of file vpBasicFeature.h.

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

inherited

Get the feature vector dimension.

Definition at line 115 of file vpBasicFeature.cpp.

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

double vpFeatureEllipse::getMu02 ( ) const

inline

Definition at line 104 of file vpFeatureEllipse.h.

double vpFeatureEllipse::getMu11 ( ) const

inline

Definition at line 103 of file vpFeatureEllipse.h.

double vpFeatureEllipse::getMu20 ( ) const

inline

Definition at line 102 of file vpFeatureEllipse.h.

void vpFeatureEllipse::init ( void )

virtual

Default initialization.

Implements vpBasicFeature.

Definition at line 77 of file vpFeatureEllipse.cpp.

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

Referenced by vpFeatureEllipse().

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

virtual

compute the interaction matrix from a subset a the possible features

Implements vpBasicFeature.

Definition at line 104 of file vpFeatureEllipse.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), vpBasicFeature::s, selectMu02(), selectMu11(), selectMu20(), selectX(), selectY(), vpMath::sqr(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError().

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

inlinevirtualinherited

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

Definition at line 112 of file vpBasicFeature.h.

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

virtual

print the name of the feature

Implements vpBasicFeature.

Examples:: servoSimuCircle2DCamVelocityDisplay.cpp.

Definition at line 293 of file vpFeatureEllipse.cpp.

References vpBasicFeature::s, selectMu02(), selectMu11(), selectMu20(), selectX(), and selectY().

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 148 of file vpBasicFeature.cpp.

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

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

static unsigned int vpBasicFeature::selectAll ( )

inlinestaticinherited

Select all the features.

Definition at line 115 of file vpBasicFeature.h.

unsigned int vpFeatureEllipse::selectMu02 ( )

static

Definition at line 473 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureEllipse::selectMu11 ( )

static

Definition at line 472 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureEllipse::selectMu20 ( )

static

Definition at line 471 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureEllipse::selectX ( )

static

vpBasicFeature method instantiation

Definition at line 469 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureEllipse::selectY ( )

static

Definition at line 470 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

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

void vpFeatureEllipse::set_x ( const double x )

Definition at line 348 of file vpFeatureEllipse.cpp.

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

void vpFeatureEllipse::set_xy	(	const double	x,
		const double	y
	)

Definition at line 362 of file vpFeatureEllipse.cpp.

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

void vpFeatureEllipse::set_y ( const double y )

Definition at line 355 of file vpFeatureEllipse.cpp.

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

void vpFeatureEllipse::setABC	(	const double	A,
		const double	B,
		const double	C
	)

Examples:: servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 370 of file vpFeatureEllipse.cpp.

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

Referenced by vpFeatureBuilder::create().

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType d )

inlineinherited

Definition at line 162 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 158 of file vpBasicFeature.cpp.

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

void vpFeatureEllipse::setMu	(	const double	mu20,
		const double	mu11,
		const double	mu02
	)

Definition at line 380 of file vpFeatureEllipse.cpp.

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

Member Data Documentation

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

protectedinherited

Definition at line 160 of file vpBasicFeature.h.

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

unsigned int vpBasicFeature::dim_s

protectedinherited

Dimension of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

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 82 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(), selectMu02(), selectMu11(), selectMu20(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), selectX(), vpFeatureVanishingPoint::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), selectY(), vpFeatureVanishingPoint::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 95 of file vpBasicFeature.h.

unsigned int vpBasicFeature::nbParameters

protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 97 of file vpBasicFeature.h.

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 90 of file vpBasicFeature.h.

Referenced by buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), display(), vpFeatureMoment::duplicate(), error(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureLuminance::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeatureDepth::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::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(), init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpGenericFeature::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), 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(), set_x(), vpFeatureVanishingPoint::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), set_xy(), set_y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().

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

coordinates

Member Function Documentation

Member Data Documentation