#include <visp3/visual_features/vpFeaturePointPolar.h>

Inheritance diagram for vpFeaturePointPolar:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpFeaturePointPolar ()

virtual	~vpFeaturePointPolar ()

void	buildFrom (const double rho, const double theta, 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

vpFeaturePointPolar *	duplicate () const

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

void	init ()

double	get_rho () const

double	get_theta () const

double	get_Z () const

vpMatrix	interaction (const unsigned int select=FEATURE_ALL)

void	print (const unsigned int select=FEATURE_ALL) const

void	set_rho (const double rho)

void	set_theta (const double theta)

void	set_Z (const double Z)

void	set_rhoThetaZ (const double rho, const double theta, const double Z)

Deprecated functions
vpColVector	error (const unsigned int select=FEATURE_ALL)

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	selectRho ()

static unsigned int	selectTheta ()

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 image point visual feature with polar coordinates $(\rho,\theta)$ described in [8].

Let us denote $(\rho,\theta)$ the polar coordinates of an image point, with $\rho$ the radius of the feature point with respect to the optical center and $\theta$ the angle. From cartesian coordinates $(x,y)$ of a image point, polar coordinates are obtained by:

$\rho = \sqrt{x^2+y^2} \hbox{,}\; \; \theta = \arctan \frac{y}{x}$

From polar coordinates, cartesian coordinates of the feature point can be obtained by:

$x = \rho \cos\theta \hbox{,}\; \; y = \rho \sin\theta$

This class is intended to manipulate the 2D image point visual feature in polar coordinates $s = (\rho, \theta)$ . The interaction matrix related to $ s $ is given by:

$L = \left[ \begin{array}{l} L_{\rho} \\ \; \\ L_{\theta}\\ \end{array} \right] = \left[ \begin{array}{cccccc} \frac{-\cos \theta}{Z} & \frac{-\sin \theta}{Z} & \frac{\rho}{Z} & (1+\rho^2)\sin\theta & -(1+\rho^2)\cos\theta & 0 \\ \;\\ \ \frac{\sin\theta}{\rho Z} & \frac{-\cos\theta}{\rho Z} & 0 & \cos\theta /\rho & \sin\theta/\rho & -1 \\ \end{array} \right]$

where $Z$ is the 3D depth of the considered point in the camera frame.

Two ways are allowed to initialize the feature.

The first way by setting the feature values $(\rho,\theta,Z)$ using vpFeaturePointPolar members like set_rho(), set_theta(), set_Z(), or set_rhoThetaZ(), or also buildFrom().
The second way by using the feature builder functionalities to initialize the feature from a dot tracker, like vpFeatureBuilder::create (vpFeaturePointPolar &, const vpCameraParameters &, const vpDot &) or vpFeatureBuilder::create (vpFeaturePointPolar &, const vpCameraParameters &, const vpDot2 &). Be aware, that in that case only $(\rho,\theta)$ are initialized. You may also initialize the 3D depth . It is also possible to initialize the feature from a point structure, like vpFeatureBuilder::create(vpFeaturePointPolar &, const vpPoint &) or vpFeatureBuilder::create(vpFeaturePointPolar &, const vpCameraParameters &, const vpCameraParameters &, const vpPoint &). In that case all the feature parameters $(\rho,\theta,Z)$ would be initialized.

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 four 2D point features with polar coordinates. First we create four current features $s$ (p var name in the code) and four desired $s^*$ (pd var name in the code) point features with polar coordinates, set the task to use the interaction matrix associated to the current feature $L_{s}$ and than compute the camera velocity $v=-\lambda \; {L_{s}}^+ \; (s-s^*)$ . The current feature $s$ is updated in the while() loop, while $s^*$ is initialized at the beginning.

#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePointPolar.h>
#include <visp3/vs/vpServo.h>
int main()
{
  // Create 4 points to specify the object of interest
  vpPoint point[4];
  // Set the 3D point coordinates in the object frame: oP
  point[0].setWorldCoordinates(-0.1, -0.1, 0);
  point[1].setWorldCoordinates( 0.1, -0.1, 0);
  point[2].setWorldCoordinates( 0.1,  0.1, 0);
  point[3].setWorldCoordinates(-0.1,  0.1, 0);
  // Initialize the desired pose between the camera and the object frame
  vpHomogeneousMatrix cMod;
  cMod.buildFrom(0, 0, 1, 0, 0, 0);
  // Compute the desired position of the point
  for (int i = 0 ; i < 4 ; i++) {
    // Compute the 3D point coordinates in the camera frame cP = cMod * oP
    point[i].changeFrame(cMod);
    // Compute the perspective projection to set (x,y)
    point[i].projection();
  }
  // Create 4 desired visual features as 2D points with polar coordinates
  vpFeaturePointPolar pd[4];
  // Initialize the desired visual feature from the desired point positions
  for (int i = 0 ; i < 4 ; i++)
    vpFeatureBuilder::create(pd[i], point[i]);
  // Initialize the current pose between the camera and the object frame
  vpHomogeneousMatrix cMo;
  cMo.buildFrom(0, 0, 1.2, 0, 0, M_PI);
  // ... cMo need here to be computed from a pose estimation
  for (int i = 0 ; i < 4 ; i++) {
    // Compute the 3D point coordinates in the camera frame cP = cMo * oP
    point[i].changeFrame(cMo);
    // Compute the perspective projection to set (x,y)
    point[i].projection();
  }
  // Create 4 current visual features as 2D points with polar coordinates
  vpFeaturePointPolar p[4];
  // Initialize the current visual feature from the current point positions
  for (int i = 0 ; i < 4 ; i++)
    vpFeatureBuilder::create(p[i], point[i]);
  // Visual servo task initialization
  vpServo task;
  // - Camera is monted on the robot end-effector and velocities are
  //   computed in the camera frame
  task.setServo(vpServo::EYEINHAND_CAMERA);
  // - Interaction matrix is computed with the current visual features s
  task.setInteractionMatrixType(vpServo::CURRENT);
  // - Set the contant gain to 1
  task.setLambda(1);
  // - Add current and desired features
  for (int i = 0 ; i < 4 ; i++)
    task.addFeature(p[i], pd[i]);
  // Control loop
  for ( ; ; ) {
    // ... cMo need here to be estimated from for example a pose estimation.
    // Computes the point coordinates in the camera frame and its 2D
    // coordinates in the image plane
    for (int i = 0 ; i < 4 ; i++)
      point[i].track(cMo) ;
    // Update the current 2D point visual feature with polar coordinates
    for (int i = 0 ; i < 4 ; i++)
      vpFeatureBuilder::create(p[i], point[i]);
    // compute the control law
    vpColVector v = task.computeControlLaw(); // camera velocity
  }
  task.kill();
}

If you want to deal only with the $\rho$ subset feature from the 2D point feature set, you have just to modify the addFeature() call in the previous example by the following line. In that case, the dimension of $s$ is four.

// Add the rho subset feature from the 2D point polar coordinates visual features

task.addFeature(p[i], pd[i], vpFeaturePointPolar::selectRho());

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 with polar coordinates, compute the corresponding error vector $(s-s^*)$ and finally build the interaction matrix $L_s$ .

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpFeaturePointPolar.h>
int main()
{
  // Creation of the current feature s
  vpFeaturePointPolar s;
  // Initialize the current feature
  s.buildFrom(0.1, M_PI, 1); // rho=0.1m, theta=pi, Z=1m
  // Creation of the desired feature s
  vpFeaturePointPolar s_star;
  // Initialize the desired feature
  s.buildFrom(0.15, 0, 0.8); // rho=0.15m, theta=0, Z=0.8m
  // Compute the interaction matrix L_s for the current feature
  vpMatrix L = s.interaction();
  // Compute the error vector (s-s*) for the point feature with polar coordinates
  s.error(s_star);
  return 0;
}

Examples:: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 260 of file vpFeaturePointPolar.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

vpFeaturePointPolar::vpFeaturePointPolar ( )

Default constructor that build a 2D point visual feature with polar coordinates and initialize it to $(\rho, \theta) = (0, 0)$ .

The 3D depth of the point requested in the interaction matrix (see interaction()) is initialized to $Z=1$ .

Definition at line 102 of file vpFeaturePointPolar.cpp.

References init().

Referenced by duplicate().

virtual vpFeaturePointPolar::~vpFeaturePointPolar ( )

inlinevirtual

Destructor. Does nothing.

Definition at line 271 of file vpFeaturePointPolar.h.

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

Member Function Documentation

void vpFeaturePointPolar::buildFrom	(	const double	rho,
		const double	theta,
		const double	Z_
	)

Build a 2D image point visual feature with polar coordinates.

Parameters

rho,theta	: Polar coordinates $(\rho,\theta)$ of the image point.
Z_	: 3D depth of the point in the camera frame.

Exceptions

vpFeatureException::badInitializationError	If the depth ( coordinate) is negative. That means that the 3D point is behind the camera which is not possible.
vpFeatureException::badInitializationError	If the depth ( coordinate) is null. That means that the 3D point is on the camera which is not possible.

Definition at line 470 of file vpFeaturePointPolar.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 vpFeaturePointPolar::display	(	const vpCameraParameters &	cam,
		const vpImage< unsigned char > &	I,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)		const

virtual

Display image 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 506 of file vpFeaturePointPolar.cpp.

References vpFeatureDisplay::displayPoint(), get_rho(), get_theta(), and vpERROR_TRACE.

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

virtual

Display image 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 535 of file vpFeaturePointPolar.cpp.

References vpFeatureDisplay::displayPoint(), get_rho(), get_theta(), and vpERROR_TRACE.

vpFeaturePointPolar * vpFeaturePointPolar::duplicate ( ) const

virtual

Create an object with the same type.

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

Implements vpBasicFeature.

Definition at line 566 of file vpFeaturePointPolar.cpp.

References vpFeaturePointPolar().

vpColVector vpFeaturePointPolar::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.

For the angular component $\theta$ , we define the error as $\theta \ominus \theta^*$ , where $\ominus$ is modulo $2\pi$ substraction.

Parameters

s_star : Desired 2D image point visual feature with polar coordinates.

select

: The error can be computed for a selection of a subset of the possible 2D point polar coordinate features.

To compute the error for all the three coordinates use vpBasicFeature::FEATURE_ALL. In that case the error vector is a 3 dimension column vector.
To compute the error for only one of the polar coordinate feature $(\rho,\theta)$ use one of the corresponding function selectRho() or selectTheta(). In that case the error vector is a 1 dimension column vector.

Returns: The error between the current and the desired visual feature.

The code below shows how to use this method to manipulate the $\rho$ component.

vpFeaturePointPolar s;
// Creation of the current feature s
s.buildFrom(0.2, ..., 1);         // rho and Z need to be set
// Build the interaction matrix L associated to rho component
vpMatrix L_rho = s.interaction( vpFeaturePointPolar::selectRho() );
vpFeaturePointPolar s_star;
// Creation of the desired feature s*
s_star.buildFrom(0.45, ..., 1.2); // rho and Z need to be set
// Compute the error vector (s-s*) for the rho feature
vpColVector e = s.error(s_star, vpFeaturePointPolar::selectRho());

Reimplemented from vpBasicFeature.

Definition at line 385 of file vpFeaturePointPolar.cpp.

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

vpColVector vpFeaturePointPolar::error ( const unsigned int select = FEATURE_ALL )

compute the error between a visual features and zero

double vpFeaturePointPolar::get_rho ( ) const

Get the image point $\rho$ polar coordinate.

See also: get_theta()

Examples:: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp.

Definition at line 160 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::s.

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

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 vpFeaturePointPolar::get_theta ( ) const

Get the image point $\theta$ polar coordinate.

See also: get_rho()

Examples:: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp.

Definition at line 167 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::s.

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

double vpFeaturePointPolar::get_Z ( ) const

Get the 3D point depth in the camera frame.

Definition at line 172 of file vpFeaturePointPolar.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 vpFeaturePointPolar::init ( void )

virtual

Initialise the memory space requested for a 2D point visual feature with polar coordinates.

By default this feature is initialized to $(\rho, \theta) = (0, 0)$ . The 3D depth of the point requested in the interaction matrix (see interaction()) is initialized to $Z=1$ .

Implements vpBasicFeature.

Definition at line 75 of file vpFeaturePointPolar.cpp.

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

Referenced by vpFeaturePointPolar().

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

virtual

Compute and return the interaction matrix $ L $ associated to a subset of the possible 2D image point features with polar coordinates $(\rho,\theta)$ .

$L = \left[ \begin{array}{l} L_{\rho} \\ \; \\ L_{\theta}\\ \end{array} \right] = \left[ \begin{array}{cccccc} \frac{-\cos \theta}{Z} & \frac{-\sin \theta}{Z} & \frac{\rho}{Z} & (1+\rho^2)\sin\theta & -(1+\rho^2)\cos\theta & 0 \\ \; \\ \frac{\sin\theta}{\rho Z} & \frac{-\cos\theta}{\rho Z} & 0 & \cos\theta /\rho & \sin\theta/\rho & -1 \\ \end{array} \right]$

where $Z$ is the 3D depth of the considered point.

Parameters

select

: Selection of a subset of the possible polar point coordinate features.

To compute the interaction matrix for all the two subset features $(\rho,\theta)$ 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 subset ( $\rho,\theta$ ) use one of the corresponding function selectRho() or selectTheta(). In that case the returned interaction matrix is $[1 \times 6]$ dimension.

Returns: The interaction matrix computed from the 2D point polar coordinate features.

Exceptions

vpFeatureException::badInitializationError : If the point is behind the camera , or if the 3D depth is null , or if the $\rho$ polar coordinate of the point is null.

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

vpFeaturePointPolar s;
double rho   = 0.3;
double theta = M_PI;
double Z     = 1;
// Creation of the current feature s
s.buildFrom(rho, theta, Z);
// Build the interaction matrix L_s
vpMatrix L = s.interaction();

The interaction matrix could also be build by:

vpMatrix L = s.interaction( vpBasicFeature::FEATURE_ALL );

In both cases, L is a 2 by 6 matrix. The first line corresponds to the $\rho$ visual feature while the second one to the $\theta$ visual feature.

It is also possible to build the interaction matrix associated to one of the possible features. The code below shows how to consider only the $\theta$ component.

vpMatrix L_theta = s.interaction( vpFeaturePointPolar::selectTheta() );

In that case, L_theta is a 1 by 6 matrix.

Implements vpBasicFeature.

Definition at line 248 of file vpFeaturePointPolar.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::deallocate, vpBasicFeature::flags, get_rho(), get_theta(), get_Z(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), selectRho(), selectTheta(), vpMatrix::stack(), vpBasicFeature::user, vpERROR_TRACE, and vpTRACE.

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 vpFeaturePointPolar::print ( const unsigned int select = FEATURE_ALL ) const

virtual

Print to stdout the values of the current visual feature.

Parameters

select

: Selection of a subset of the possible 2D image point feature coordinates.

To print all the two polar coordinates $(\rho,\theta)$ used as features use vpBasicFeature::FEATURE_ALL.
To print only one of the polar coordinate feature $(\rho,\theta)$ use one of the corresponding function selectRho() or selectTheta().

// Creation of the current feature s
vpFeaturePointPolar s;
s.buildFrom(0.1, M_PI_2, 1.3);
s.print(); // print all the 2 components of the image point feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePointPolar::selectRho()); // print only the rho component

Implements vpBasicFeature.

Definition at line 442 of file vpFeaturePointPolar.cpp.

References get_rho(), get_theta(), get_Z(), selectRho(), and selectTheta().

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(), interaction(), and vpFeatureTranslation::interaction().

static unsigned int vpBasicFeature::selectAll ( )

inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

unsigned int vpFeaturePointPolar::selectRho ( )

static

Function used to select the $\rho$ subset polar coordinate of the image point visual feature.

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

See the interaction() method for an usage example.

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:

vpFeaturePointPolar p;
vpServo task;
...
// Add only the rho subset coordinate feature from an image point to the
task task.addFeature(p, vpFeaturePointPolar::selectRho());

See also: selectTheta()

Definition at line 595 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeaturePointPolar::selectTheta ( )

static

Function used to select the $\theta$ subset polar coordinate of the image point visual feature.

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

See the interaction() method for an usage example.

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:

vpFeaturePointPolar p;
vpServo task;
...
// Add only the theta subset coordinate feature from an image point to the
task task.addFeature(p, vpFeaturePointPolar::selectTheta()); 

See also: selectRho()

Definition at line 619 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::FEATURE_LINE.

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

void vpFeaturePointPolar::set_rho ( const double rho )

Set the image point $\rho$ polar coordinate.

See also: set_theta()

Definition at line 109 of file vpFeaturePointPolar.cpp.

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

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

void vpFeaturePointPolar::set_rhoThetaZ	(	const double	rho,
		const double	theta,
		const double	Z_
	)

Initialize the image point visual feature with polar coordinates.

Parameters

rho,theta	: Polar coordinates $(\rho,\theta)$ of the image point.
Z_	: 3D depth of the point in the camera frame.

See also: set_rho(), set_theta(), set_Z()

Definition at line 145 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::flags, vpBasicFeature::nbParameters, set_rho(), set_theta(), and set_Z().

void vpFeaturePointPolar::set_theta ( const double theta )

Set the image point $\theta$ polar coordinate.

See also: set_rho()

Definition at line 119 of file vpFeaturePointPolar.cpp.

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

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

void vpFeaturePointPolar::set_Z ( const double Z_ )

Set the 3D point depth in the camera frame.

Definition at line 129 of file vpFeaturePointPolar.cpp.

References vpBasicFeature::flags.

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

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(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), 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(), 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(), selectRho(), vpFeatureLine::selectTheta(), 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().

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.

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.

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