#include <visp3/visual_features/vpFeatureMomentAlpha.h>

Inheritance diagram for vpFeatureMomentAlpha:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpFeatureMomentAlpha (vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=NULL)

void	compute_interaction ()

const char *	momentName () const

const char *	name () const

vpColVector	error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)

Inherited functionalities from vpFeatureMoment
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

virtual void	printDependencies (std::ostream &os) const

void	update (double A, double B, double C)

Inherited functionalities from vpBasicFeature
unsigned int	dimension_s ()

vpColVector	get_s (unsigned int select=FEATURE_ALL) const

vpBasicFeatureDeallocatorType	getDeallocate ()

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

void	setDeallocate (vpBasicFeatureDeallocatorType d)

void	setFlags ()

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

Functionality computation for in-plane rotation moment feature $\alpha$ : computes the interaction matrix associated with vpMomentAlpha.

This class computes the interaction matrix associated to $\alpha = \frac{1}{2} arctan(\frac{2\mu_{11}}{\mu_{20}-\mu_{02}})$ moment primitive.

The interaction matrix for the feature has the following form:

${ \left[ \begin {array}{c} {\frac {\mu_{{1,1}}{\it DA}\,A}{d}}+{\frac { \left( {\it DA}\,\mu_{{0,2}}+1/2\,d-1/2\,{{\it DA}}^{2} \right) B}{d} }\\ \noalign{\medskip}{\frac { \left( {\it DA}\,\mu_{{0,2}}-1/2\,d-1/2 \,{{\it DA}}^{2} \right) A}{d}}-{\frac {B\mu_{{1,1}}{\it DA}}{d}} \\ \noalign{\medskip}Bw_{{x}}-Aw_{{y}}\\ \noalign{\medskip}{\frac { \beta\, \left( \mu_{{1,2}} \left( \mu_{{2,0}}-\mu_{{0,2}} \right) +\mu _{{1,1}} \left( \mu_{{0,3}}-\mu_{{2,1}} \right) \right) +\gamma\,x_{{ g}} \left( \mu_{{0,2}} \left( \mu_{{2,0}}-\mu_{{0,2}} \right) -2\,{\mu _{{1,1}}}^{2} \right) +\gamma\,y_{{g}}\mu_{{1,1}} \left( \mu_{{2,0}}+ \mu_{{0,2}} \right) }{d}}\\ \noalign{\medskip}{\frac {\beta\, \left( \mu_{{2,1}} \left( \mu_{{0,2}}-\mu_{{2,0}} \right) +\mu_{{1,1}} \left( \mu_{{3,0}}-\mu_{{1,2}} \right) \right) +\gamma\,x_{{g}}\mu_{ {1,1}} \left( \mu_{{2,0}}+\mu_{{0,2}} \right) +\gamma\,y_{{g}} \left( \mu_{{2,0}} \left( \mu_{{0,2}}-\mu_{{2,0}} \right) -2\,{\mu_{{1,1}}}^{ 2} \right) }{d}}\\ \noalign{\medskip}-1\end {array} \right] }^t$

with ${\it DA} = \mu_{{2,0}}-\mu_{{0,2}}$ and ${\it d} = DA^2+4{\mu_{1,1}}^2$ .

In the discrete case: , .
In the dense case: , .

The interaction matrix computed is single-dimension (no selection possible) and can be obtained by calling vpFeatureMomentAlpha::interaction().

This feature is often used in moment-based visual servoing to control the planar rotation parameter.

Minimum vpMomentObject order needed to compute this feature: 4.

This feature depends on:

Examples:: manServoMomentsSimple.cpp.

Definition at line 163 of file vpFeatureMomentAlpha.h.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
FEATURE_ALL

Definition at line 82 of file vpBasicFeature.h.

enum vpBasicFeature::vpBasicFeatureDeallocatorType

inherited

Indicates who should deallocate the feature.

Enumerator
user
vpServo

Definition at line 88 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureMomentAlpha::vpFeatureMomentAlpha	(	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 178 of file vpFeatureMomentAlpha.h.

References vpFeatureMoment::compute_interaction().

Member Function Documentation

void vpFeatureMomentAlpha::compute_interaction ( void )

virtual

Computes interaction matrix for alpha moment. Called internally. The moment primitives must be computed before calling this. This feature depends on:

Reimplemented from vpFeatureMoment.

Definition at line 94 of file vpFeatureMomentAlpha.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpMomentObject::DISCRETE, vpMomentCentered::get(), vpMomentDatabase::get(), vpMoment::getObject(), vpMomentObject::getType(), vpMomentGravityCenter::getXg(), vpMomentGravityCenter::getYg(), 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 110 of file vpBasicFeature.h.

References vpColor::green.

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 114 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 220 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 vpFeatureMomentAlpha::error	(	const vpBasicFeature &	s_star,
		const unsigned int	select = `FEATURE_ALL`
	)

virtual

Compute the error between two visual features from a subset of the possible features.

Reimplemented from vpBasicFeature.

Definition at line 167 of file vpFeatureMomentAlpha.cpp.

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

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

inherited

Get the feature vector $\bf s$ .

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().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 123 of file vpBasicFeature.h.

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

inherited

Feature's dimension according to selection.

Definition at line 85 of file vpFeatureMoment.cpp.

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

const vpMoment& vpFeatureMoment::getMoment ( ) const

inlineprotectedinherited

Definition at line 163 of file vpFeatureMoment.h.

void vpFeatureMoment::init ( void )

virtualinherited

Initialize common parameters for moment features.

Implements vpBasicFeature.

Definition at line 56 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 199 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 244 of file vpFeatureMoment.cpp.

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

Referenced by vpFeatureMomentCommon::vpFeatureMomentCommon().

const char* vpFeatureMomentAlpha::momentName ( ) const

inlinevirtual

Associated moment name.

Implements vpFeatureMoment.

Definition at line 188 of file vpFeatureMomentAlpha.h.

const char* vpFeatureMomentAlpha::name ( ) const

inlinevirtual

Feature name.

Implements vpFeatureMoment.

Definition at line 192 of file vpFeatureMomentAlpha.h.

References vpBasicFeature::error().

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.

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 99 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 281 of file vpFeatureMoment.cpp.

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 131 of file vpBasicFeature.cpp.

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

Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::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 142 of file vpBasicFeature.h.

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType d )

inlineinherited

Definition at line 137 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 141 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.

Examples:: mbot-apriltag-ibvs.cpp.

Definition at line 153 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 171 of file vpFeatureMoment.h.

Referenced by vpFeatureMoment::linkTo().

double vpFeatureMoment::A

protectedinherited

Definition at line 168 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

double vpFeatureMoment::B

protectedinherited

Definition at line 169 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

double vpFeatureMoment::C

protectedinherited

Definition at line 170 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 148 of file vpBasicFeature.h.

Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::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 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(), vpFeatureVanishingPoint::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().

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

vpFeatureMomentDatabase* vpFeatureMoment::featureMomentsDataBase

protectedinherited

Definition at line 165 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 98 of file vpBasicFeature.h.

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices

protectedinherited

Definition at line 166 of file vpFeatureMoment.h.

const vpMoment* vpFeatureMoment::moment

protectedinherited

Definition at line 162 of file vpFeatureMoment.h.

vpMomentDatabase& vpFeatureMoment::moments

protectedinherited

Definition at line 164 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentCInvariant::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 100 of file vpBasicFeature.h.

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 92 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