#include <visp3/visual_features/vpFeatureMoment.h>

Inheritance diagram for vpMomentGenericFeature:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpMomentGenericFeature (vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase featureMoments, const vpMoment p_moment)

const char *	momentName () const

virtual const char *	name () const

virtual void	compute_interaction (void)

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	selectAll ()

Static Public Attributes
static const unsigned int	FEATURE_LINE [32]

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

This class defines a generic feature used for moment feature duplication.

A vpBasicFeature can be duplicated into a vpMomentGenericFeature. In that case, all data in the vpBasicFeature is copied but the feature's name is lost. For example if a vpFeatureMomentCInvariant is duplicated, the duplicata will be operational but could not be used in a vpFeatureMomentDatabase. The reason for this is that a vpMomentGenericFeature can refer to anything therefore it has no specific name.

Duplication is mostly used internally in ViSP.

Definition at line 231 of file vpFeatureMoment.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

vpMomentGenericFeature::vpMomentGenericFeature	(	vpMomentDatabase &	data_base,
		double	A_,
		double	B_,
		double	C_,
		vpFeatureMomentDatabase *	featureMoments,
		const vpMoment *	p_moment
	)

inline

Definition at line 233 of file vpFeatureMoment.h.

Member Function Documentation

void vpFeatureMoment::compute_interaction ( void )

virtualinherited

Reimplemented in vpFeatureMomentGravityCenterNormalized, vpFeatureMomentGravityCenter, vpFeatureMomentCInvariant, vpFeatureMomentAreaNormalized, vpFeatureMomentAlpha, vpFeatureMomentCentered, vpFeatureMomentBasic, and vpFeatureMomentArea.

Definition at line 244 of file vpFeatureMoment.cpp.

Referenced by vpFeatureMoment::update().

unsigned int vpBasicFeature::dimension_s ( )

inlineinherited

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

Definition at line 101 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 110 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 123 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 208 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, vpFeaturePointPolar, vpFeatureThetaU, vpFeaturePoint3D, vpFeatureLine, vpFeaturePoint, vpFeatureDepth, vpGenericFeature, vpFeatureMomentAlpha, vpFeatureLuminance, vpFeatureVanishingPoint, vpFeatureEllipse, and vpFeatureSegment.

Examples:: manServoMomentsSimple.cpp.

Definition at line 168 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 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().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 163 of file vpBasicFeature.h.

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

inherited

Feature's dimension according to selection.

Definition at line 83 of file vpFeatureMoment.cpp.

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

const vpMoment& vpFeatureMoment::getMoment ( ) const

inlineprotectedinherited

Definition at line 143 of file vpFeatureMoment.h.

void vpFeatureMoment::init ( void )

virtualinherited

Initialize common parameters for moment features.

Implements vpBasicFeature.

Definition at line 55 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 188 of file vpFeatureMoment.cpp.

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

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 231 of file vpFeatureMoment.cpp.

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

Referenced by vpFeatureMomentCommon::vpFeatureMomentCommon().

const char* vpMomentGenericFeature::momentName ( ) const

inlinevirtual

No specific moment name.

Implements vpFeatureMoment.

Definition at line 239 of file vpFeatureMoment.h.

virtual const char* vpMomentGenericFeature::name ( ) const

inlinevirtual

No specific feature name.

Implements vpFeatureMoment.

Definition at line 243 of file vpFeatureMoment.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 112 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 97 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 269 of file vpFeatureMoment.cpp.

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 148 of file vpBasicFeature.cpp.

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

Referenced by vpFeatureEllipse::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.

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 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 144 of file vpFeatureMoment.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpFeatureMoment::compute_interaction(), vpBasicFeature::dim_s, vpBasicFeature::flags, vpMomentDatabase::get(), vpMoment::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 151 of file vpFeatureMoment.h.

Referenced by vpFeatureMoment::linkTo().

double vpFeatureMoment::A

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(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

double vpFeatureMoment::B

protectedinherited

Definition at line 149 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 150 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 160 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::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(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeatureVanishingPoint::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeatureVanishingPoint::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

vpFeatureMomentDatabase* vpFeatureMoment::featureMomentsDataBase

protectedinherited

Definition at line 145 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 95 of file vpBasicFeature.h.

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices

protectedinherited

Definition at line 146 of file vpFeatureMoment.h.

const vpMoment* vpFeatureMoment::moment

protectedinherited

Definition at line 142 of file vpFeatureMoment.h.

vpMomentDatabase& vpFeatureMoment::moments

protectedinherited

Definition at line 144 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCInvariant::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 97 of file vpBasicFeature.h.

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 90 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