vpFeatureVanishingPoint Class Reference

#include <visp3/visual_features/vpFeatureVanishingPoint.h>

Inheritance diagram for vpFeatureVanishingPoint:

Public Types
enum	vpFeatureVanishingPointType { X = 1, Y = 2 }
enum	{ FEATURE_ALL = 0xffff }
enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpFeatureVanishingPoint ()
virtual	~vpFeatureVanishingPoint ()
void	buildFrom (const double _x, const double _y)
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
vpFeatureVanishingPoint *	duplicate () const
vpColVector	error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
vpColVector	error (const unsigned int select=FEATURE_ALL)
double	get_x () const
double	get_y () const
void	init ()
vpMatrix	interaction (const unsigned int select=FEATURE_ALL)
void	print (const unsigned int select=FEATURE_ALL) const
void	set_x (const double _x)
void	set_y (const double _y)
void	set_xy (const double _x, const double _y)
Inherited functionalities from vpBasicFeature
unsigned int	dimension_s ()
vpColVector	get_s (unsigned int select=FEATURE_ALL) const
vpBasicFeatureDeallocatorType	getDeallocate ()
unsigned int	getDimension (const unsigned int select=FEATURE_ALL) const
virtual double	operator[] (const unsigned int i) const
void	setDeallocate (vpBasicFeatureDeallocatorType d)
void	setFlags ()

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]

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 61 of file vpFeatureVanishingPoint.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

inherited

Enumerator
FEATURE_ALL

Definition at line 82 of file vpBasicFeature.h.

vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType

inherited

Indicates who should deallocate the feature.

Enumerator
user
vpServo

Definition at line 88 of file vpBasicFeature.h.

vpFeatureVanishingPointType

enum vpFeatureVanishingPoint::vpFeatureVanishingPointType

Enumerator
X
Y

Definition at line 64 of file vpFeatureVanishingPoint.h.

Constructor & Destructor Documentation

vpFeatureVanishingPoint()

vpFeatureVanishingPoint::vpFeatureVanishingPoint

(

)

Default constructor.

Definition at line 74 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by duplicate().

~vpFeatureVanishingPoint()

virtual vpFeatureVanishingPoint::~vpFeatureVanishingPoint ( )

inlinevirtual

Destructor.

Definition at line 79 of file vpFeatureVanishingPoint.h.

References vpBasicFeature::display(), vpBasicFeature::duplicate(), vpBasicFeature::error(), vpColor::green, vpBasicFeature::init(), vpBasicFeature::interaction(), and vpBasicFeature::print().

Member Function Documentation

buildFrom()

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

Definition at line 198 of file vpFeatureVanishingPoint.cpp.

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

dimension_s()

unsigned int vpBasicFeature::dimension_s ( )

inlineinherited

Return the dimension of the feature vector .

Definition at line 110 of file vpBasicFeature.h.

References vpColor::green.

display() [1/2]

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 216 of file vpFeatureVanishingPoint.cpp.

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

display() [2/2]

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 241 of file vpFeatureVanishingPoint.cpp.

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

duplicate()

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const

virtual

feature duplication

for memory issue (used by the vpServo class only)

Implements vpBasicFeature.

Definition at line 259 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

error() [1/2]

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 164 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpPoseFeatures::addFeatureSegment().

error() [2/2]

vpColVector vpFeatureVanishingPoint::error

(

const unsigned int

select = FEATURE_ALL

)

compute the error between a visual features and zero

get_s()

vpColVector vpBasicFeature::get_s ( unsigned int  select = FEATURE_ALL ) const

inherited

Get the feature vector .

Examples:

servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 114 of file vpBasicFeature.cpp.

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

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

get_x()

double vpFeatureVanishingPoint::get_x

(

)

const

get the point x-coordinates

Definition at line 83 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

get_y()

double vpFeatureVanishingPoint::get_y

(

)

const

get the point y-coordinates

Definition at line 92 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 123 of file vpBasicFeature.h.

getDimension()

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

inherited

Get the feature vector dimension.

Definition at line 100 of file vpBasicFeature.cpp.

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

Referenced by vpFeatureMoment::vpFeatureMoment().

init()

void vpFeatureVanishingPoint::init ( void  )

virtual

Default initialization.

Implements vpBasicFeature.

Definition at line 58 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

interaction()

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 102 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), selectX(), selectY(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.

Referenced by vpPoseFeatures::addFeatureSegment().

operator[]()

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

inlinevirtualinherited

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

Definition at line 130 of file vpBasicFeature.h.

print()

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

virtual

print the name of the feature

Implements vpBasicFeature.

Definition at line 187 of file vpFeatureVanishingPoint.cpp.

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

resetFlags()

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 131 of file vpBasicFeature.cpp.

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

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

selectAll()

static unsigned int vpBasicFeature::selectAll ( )

inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

selectX()

unsigned int vpFeatureVanishingPoint::selectX ( )

static

Definition at line 265 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

selectY()

unsigned int vpFeatureVanishingPoint::selectY ( )

static

Definition at line 266 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

set_x()

void vpFeatureVanishingPoint::set_x

(

const double

_x

)

Set the point x-coordinates.

set the point x-coordinates

Definition at line 77 of file vpFeatureVanishingPoint.cpp.

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

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

set_xy()

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

Set the point xy coordinates.

set the point xy coordinates

Definition at line 95 of file vpFeatureVanishingPoint.cpp.

References set_x(), and set_y().

set_y()

void vpFeatureVanishingPoint::set_y

(

const double

_y

)

Set the point y-coordinates.

set the point y-coordinates

Definition at line 86 of file vpFeatureVanishingPoint.cpp.

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

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

setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d )

inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

setFlags()

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 141 of file vpBasicFeature.cpp.

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

Member Data Documentation

deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

protectedinherited

Definition at line 148 of file vpBasicFeature.h.

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

dim_s

unsigned int vpBasicFeature::dim_s

protectedinherited

Dimension of the visual feature.

Definition at line 94 of file vpBasicFeature.h.

Referenced by vpGenericFeature::duplicate(), vpFeatureMoment::duplicate(), vpFeatureLuminance::error(), vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureLuminance::interaction(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpFeatureLuminance::operator=(), vpBasicFeature::operator=(), vpGenericFeature::print(), vpFeatureMoment::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().

FEATURE_LINE

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 80 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(), selectX(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

flags

bool* vpBasicFeature::flags

protectedinherited

Ensure that all the parameters needed to compute the iteraction matrix are set.

Definition at line 98 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(), init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::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(), set_x(), vpFeatureEllipse::set_x(), vpFeatureDepth::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), set_y(), vpFeatureEllipse::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().

nbParameters

unsigned int vpBasicFeature::nbParameters

protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 100 of file vpBasicFeature.h.

Referenced by buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureMoment::duplicate(), init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().

s

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

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