Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
vpFeaturePoint Class Reference
visual_features: Visual features module » Visual features

#include <visp3/visual_features/vpFeaturePoint.h>

+ Inheritance diagram for vpFeaturePoint:

Public Types

enum  { FEATURE_ALL = 0xffff }
 
enum  vpBasicFeatureDeallocatorType { user, vpServo }
 
Deprecated functions
enum  vpFeaturePointType { X = 1, Y = 2 }
 

Public Member Functions

 vpFeaturePoint ()
 
virtual ~vpFeaturePoint ()
 
void buildFrom (const double x, const double y, const double Z)
 
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
 
vpFeaturePoint * 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
 
double get_Z () 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_Z (const double Z)
 
void set_xyZ (const double x, const double y, const double Z)
 
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 a 2D point visual feature $ s$ which is composed by two parameters that are the cartesian coordinates $ x $ and $ y $.

In this class $ x $ and $ y $ are the 2D coordinates in the image plane and are given in meter. $ Z $ which is the 3D coordinate representing the depth is also a parameter of the point. It is needed during the computation of the interaction matrix $ L $.

The visual features can be set easily from an instance of the classes vpPoint, vpDot or vpDot2. For more precision see the vpFeatureBuilder class.

Once the values of the visual features are set, the interaction() method allows to compute the interaction matrix $ L $ associated to the visual feature, while the error() method computes the error vector $(s - s^*)$ between the current visual feature and the desired one.

The code below shows how to create a eye-in hand visual servoing task using a 2D point feature $(x,y)$ that correspond to the 2D coordinates of a point in the image plane. To control six degrees of freedom, at least four other features must be considered like two other point features for example. First we create a current ( $s$) 2D point feature. Then we set the task to use the interaction matrix associated to the current feature $L_s$. And finally we compute the camera velocity $v=-\lambda \; L_s^+ \; (s-s^*)$. The current feature $s$ is updated in the while() loop.

#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
int main()
{
vpServo task; // Visual servoing task
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
//In this case the parameter Z is not necessary because the interaction matrix is computed
//with the desired visual feature.
// Set eye-in-hand control law.
// The computed velocities will be expressed in the camera frame
task.setServo(vpServo::EYEINHAND_CAMERA);
// Interaction matrix is computed with the desired visual features sd
task.setInteractionMatrixType(vpServo::DESIRED);
// Add the 2D point feature to the task
task.addFeature(s, sd);
// Control loop
for ( ; ; ) {
// The new parameters x and y must be computed here.
// Update the current point visual feature
s.buildFrom(x, y, Z);
// compute the control law
vpColVector v = task.computeControlLaw(); // camera velocity
}
return 0;
}

If you want to build your own control law, this other example shows how to create a current ( $s$) and desired ( $s^*$) 2D point visual feature, compute the corresponding error vector $(s-s^*)$ and finally build the interaction matrix $L_s$.

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpFeaturePoint.h>
int main()
{
vpFeaturePoint sd; //The desired point feature.
//Set the desired features x and y
double xd = 0;
double yd = 0;
//Set the depth of the point in the camera frame.
double Zd = 1;
//Set the point feature thanks to the desired parameters.
sd.buildFrom(xd, yd, Zd);
vpFeaturePoint s; //The current point feature.
//Set the current features x and y
double x; //You have to compute the value of x.
double y; //You have to compute the value of y.
double Z; //You have to compute the value of Z.
//Set the point feature thanks to the current parameters.
s.buildFrom(x, y, Z);
// Compute the interaction matrix L_s for the current point feature
vpMatrix L = s.interaction();
// You can also compute the interaction matrix L_s for the desired point feature
// The corresponding line of code is : vpMatrix L = sd.interaction();
// Compute the error vector (s-sd) for the point feature
s.error(s_star);
}

An other fully explained example is given in the Tutorial: Image-based visual servo.

Examples:
manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, testPoseFeatures.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 181 of file vpFeaturePoint.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.

enum vpFeaturePoint::vpFeaturePointType
Enumerator
X 
Y 

Definition at line 232 of file vpFeaturePoint.h.

Constructor & Destructor Documentation

vpFeaturePoint::vpFeaturePoint ( )

Default constructor that build a visual feature.

Definition at line 89 of file vpFeaturePoint.cpp.

References init().

Referenced by duplicate().

virtual vpFeaturePoint::~vpFeaturePoint ( )
inlinevirtual

Destructor.

Definition at line 191 of file vpFeaturePoint.h.

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

Member Function Documentation

void vpFeaturePoint::buildFrom ( const double  x_,
const double  y_,
const double  Z_ 
)

Build a 2D point visual feature from the point coordinates in the image plan $ x $ and $ y $. The parameter Z which describes the depth, is set in the same time.

See the vpFeaturePoint class description for more details about $ x $ and $ y $.

Parameters
x_: The $ x $ parameter.
y_: The $ y $ parameter.
Z_: The $ Z $ parameter.
Examples:
mbot-apriltag-2D-half-vs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 395 of file vpFeaturePoint.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::s, and vpERROR_TRACE.

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

Display point feature.

Parameters
cam: Camera parameters.
I: Image.
color: Color to use for the display.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Examples:
servoAfma62DhalfCamVelocity.cpp.

Definition at line 431 of file vpFeaturePoint.cpp.

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

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

Display 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 457 of file vpFeaturePoint.cpp.

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

vpFeaturePoint * vpFeaturePoint::duplicate ( ) const
virtual

Create an object with the same type.

vpBasicFeature *s_star;
vpFeaturePoint s;
s_star = s.duplicate(); // s_star is now a vpFeaturePoint

Implements vpBasicFeature.

Definition at line 483 of file vpFeaturePoint.cpp.

References vpFeaturePoint().

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

Compute the error $ (s-s^*)$ between the current and the desired visual features from a subset of the possible features.

Parameters
s_star: Desired visual feature.
select: The error can be computed for a selection of a subset of the possible point features.
  • To compute the error for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the error vector is a 2 dimension column vector.
  • To compute the error for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the error vector is a 1 dimension column vector.
Returns
The error $ (s-s^*)$ between the current and the desired visual feature.

The code below shows how to use this method to manipulate the $ x $ subset:

// Creation of the current feature s
vpFeaturePoint s;
s.buildFrom(0, 0, 1);
// Creation of the desired feature s*
vpFeaturePoint s_star;
s_star.buildFrom(1, 1, 1);
// Compute the interaction matrix for the x feature
vpMatrix L_x = s.interaction( vpFeaturePoint::selectX() );
// Compute the error vector (s-s*) for the x feature
s.error(s_star, vpFeaturePoint::selectX());

Reimplemented from vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 329 of file vpFeaturePoint.cpp.

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

Referenced by vpPoseFeatures::addFeatureSegment().

vpColVector vpFeaturePoint::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 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().

double vpFeaturePoint::get_x ( ) const

Get the value of $ x $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ x $.
Examples:
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 130 of file vpFeaturePoint.cpp.

References vpBasicFeature::s.

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

double vpFeaturePoint::get_y ( ) const

Get the value of $ y $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Returns
The value of $ y $.
Examples:
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 150 of file vpFeaturePoint.cpp.

References vpBasicFeature::s.

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

double vpFeaturePoint::get_Z ( ) const

Get the value of $ Z $ which represents the depth in the 3D camera frame.

Returns
The value of $ Z $.
Examples:
servoSimuPoint2DhalfCamVelocity2.cpp.

Definition at line 109 of file vpFeaturePoint.cpp.

Referenced by vpFeatureBuilder::create(), interaction(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 123 of file vpBasicFeature.h.

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().

void vpFeaturePoint::init ( void  )
virtual

Initialize the memory space requested for 2D point visual feature.

Implements vpBasicFeature.

Definition at line 69 of file vpFeaturePoint.cpp.

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

Referenced by vpFeaturePoint().

vpMatrix vpFeaturePoint::interaction ( const unsigned int  select = FEATURE_ALL)
virtual

Compute and return the interaction matrix $ L $. The computation is made thanks to the values of the point features $ x $ and $ y $ and the depth $ Z $.

\[ L = \left[\begin{array}{c}L_{x} \\ L_{y}\end{array}\right] = \left[\begin{array}{cccccc} -1/Z & 0 & x/Z & xy & -(1+x^2) & y \\ 0 & -1/Z & y/Z & 1+y^2 & -xy & -x \end{array}\right]\]

Parameters
select: Selection of a subset of the possible point features.
  • To compute the interaction matrix for all the two point features use vpBasicFeature::FEATURE_ALL. In that case the dimension of the interaction matrix is $ [2 \times 6] $
  • To compute the interaction matrix for only one of the point component feature ( $ x, y $) use one of the corresponding function selectX() or selectY(). In that case the returned interaction matrix is $ [1 \times 6] $ dimension.
Returns
The interaction matrix computed from the point features.

The code below shows how to compute the interaction matrix associated to the visual feature $ s = x $.

// Creation of the current feature s
vpFeaturePoint s;
s.buildFrom(0, 0, 1);
vpMatrix L_x = s.interaction( vpFeaturePoint::selectX() );

The code below shows how to compute the interaction matrix associated to the visual feature $ s = (x, y) $.

// Creation of the current feature s
vpFeaturePoint s;
s.buildFrom(0, 0, 1);
vpMatrix L_x = s.interaction( vpBasicFeature::FEATURE_ALL );

Implements vpBasicFeature.

Examples:
servoPioneerPoint2DDepthWithoutVpServo.cpp.

Definition at line 215 of file vpFeaturePoint.cpp.

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

Referenced by vpPoseFeatures::addFeatureSegment().

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 vpFeaturePoint::print ( const unsigned int  select = FEATURE_ALL) const
virtual

Print to stdout the values of the current visual feature $ s $.

Parameters
select: Selection of a subset of the possible point features.
vpFeaturePoint s; // Current visual feature s
// Creation of the current feature s
s.buildFrom(0, 0, 1);
s.print(); // print all the 2 components of the feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePoint::selectX()); // print only the x component

Implements vpBasicFeature.

Definition at line 372 of file vpFeaturePoint.cpp.

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

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(), 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.

unsigned int vpFeaturePoint::selectX ( )
static

Function used to select the $ x $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ x $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpFeaturePoint s;
vpServo task;
...
// Add the (x) subset features from the 2D point
task.addFeature(s, vpFeaturePoint::selectX());
Examples:
mbot-apriltag-2D-half-vs.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoSimuPoint2DCamVelocity3.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 507 of file vpFeaturePoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeaturePoint::selectY ( )
static

Function used to select the $ y $ subset of the point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ y $.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpFeaturePoint s;
vpServo task;
...
// Add the (y) subset features from the 2D point
task.addFeature(s, vpFeaturePoint::selectY());

Definition at line 527 of file vpFeaturePoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

void vpFeaturePoint::set_x ( const double  x)

Set the value of $ x $ which represents the x coordinate of the point in image plan. It is one parameter of the visual feature $ s $.

Parameters
x: $ x $ value to set.
Examples:
servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 118 of file vpFeaturePoint.cpp.

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

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

void vpFeaturePoint::set_xyZ ( const double  x_,
const double  y_,
const double  Z_ 
)

Set the value of $ x $, $ y $ and $ Z $. $ x $ and $ y $ represent the coordinates of the point in the image plan and are the parameters of the visual feature $ s $. $ Z $ is the 3D coordinate in the camera frame representing the depth.

Parameters
x_: $ x $ value to set.
y_: $ y $ value to set.
Z_: $ Z $ value to set.

Definition at line 163 of file vpFeaturePoint.cpp.

References vpBasicFeature::flags, vpBasicFeature::nbParameters, set_x(), set_y(), and set_Z().

void vpFeaturePoint::set_y ( const double  y)

Set the value of $ y $ which represents the x coordinate of the point in the image plan. It is one parameter of the visual feature $ s $.

Parameters
y: $ y $ value to set.
Examples:
servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 138 of file vpFeaturePoint.cpp.

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

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

void vpFeaturePoint::set_Z ( const double  Z_)

Set the value of $ Z $ which represents the depth in the 3D camera frame.

Parameters
Z_: $ Z $ value to set.
Examples:
mbot-apriltag-2D-half-vs.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-ibvs-4pts-ogre-tracking.cpp.

Definition at line 97 of file vpFeaturePoint.cpp.

References vpBasicFeature::flags.

Referenced by vpVirtualGrabber::acquire(), vpFeatureBuilder::create(), and set_xyZ().

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.

Member Data Documentation

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate
protectedinherited

Definition at line 148 of file vpBasicFeature.h.

Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), 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(), 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(), selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), vpFeatureVanishingPoint::selectY(), vpFeatureEllipse::selectY(), 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 98 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), 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(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_x(), vpFeatureDepth::set_x(), set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureVanishingPoint::set_y(), vpFeatureEllipse::set_y(), vpFeatureDepth::set_y(), set_y(), vpFeaturePoint3D::set_Y(), vpFeatureLuminance::set_Z(), vpFeatureDepth::set_Z(), 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().

unsigned int vpBasicFeature::nbParameters
protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 100 of file vpBasicFeature.h.

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

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

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