Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/visual_features/vpFeatureSegment.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpFeatureSegment (bool normalized=false) | |
virtual | ~vpFeatureSegment () |
void | buildFrom (const double x1, const double y1, const double Z1, const double x2, const double y2, const double Z2) |
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 |
vpFeatureSegment * | duplicate () const |
vpColVector | error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL) |
double | getXc () const |
double | getYc () const |
double | getL () const |
double | getAlpha () const |
double | getZ1 () const |
double | getZ2 () const |
void | init () |
vpMatrix | interaction (const unsigned int select=FEATURE_ALL) |
void | print (const unsigned int select=FEATURE_ALL) const |
bool | isNormalized () |
void | setNormalized (bool normalized) |
void | setXc (const double val) |
void | setYc (const double val) |
void | setL (const double val) |
void | setAlpha (const double val) |
void | setZ1 (const double val) |
void | setZ2 (const double val) |
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 | selectXc () |
static unsigned int | selectYc () |
static unsigned int | selectL () |
static unsigned int | selectAlpha () |
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 |
Class that defines a 2D segment visual features. This class allow to consider two sets of visual features:
The selection of the feature set is done either during construction using vpFeatureSegment(bool), or by setNormalized(bool).
Definition at line 73 of file vpFeatureSegment.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 82 of file vpBasicFeature.h.
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inherited |
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 88 of file vpBasicFeature.h.
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explicit |
Default constructor that builds an empty segment visual feature.
normalized | : If true, use normalized features . If false, use non normalized features . |
Definition at line 86 of file vpFeatureSegment.cpp.
References init().
Referenced by duplicate().
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inlinevirtual |
Destructor. Does nothing.
Definition at line 80 of file vpFeatureSegment.h.
References vpBasicFeature::display(), vpBasicFeature::duplicate(), vpBasicFeature::error(), and vpColor::green.
void vpFeatureSegment::buildFrom | ( | const double | x1, |
const double | y1, | ||
const double | Z1, | ||
const double | x2, | ||
const double | y2, | ||
const double | Z2 | ||
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Build a segment visual feature from two points and their Z coordinates.
x1,y1 | : coordinates of the first point in the image plane. |
Z1 | : depth of the first point in the camera frame. |
x2,y2 | : coordinates of the second point in the image plane. |
Z2 | : depth of the second point in the camera frame. |
Depending on the feature set that is considered, the features or are computed from the two points using the following formulae:
Definition at line 566 of file vpFeatureSegment.cpp.
References setAlpha(), setL(), setXc(), setYc(), setZ1(), and setZ2().
Referenced by vpFeatureBuilder::create().
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inlineinherited |
Return the dimension of the feature vector .
Definition at line 110 of file vpBasicFeature.h.
References vpColor::green.
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virtual |
Displays a segment representing the feature on a greyscale image. The two limiting points are displayed in cyan and yellow.
cam | : Camera parameters. |
I | : Image. |
color | : Color to use for the segment. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 483 of file vpFeatureSegment.cpp.
References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCircle(), vpDisplay::displayLine(), and vpColor::yellow.
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virtual |
Displays a segment representing the feature on a RGBa image. The two limiting points are displayed in cyan and yellow.
cam | : Camera parameters. |
I | : Image. |
color | : Color to use for the segment. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 521 of file vpFeatureSegment.cpp.
References vpMeterPixelConversion::convertPoint(), vpColor::cyan, vpDisplay::displayCircle(), vpDisplay::displayLine(), and vpColor::yellow.
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virtual |
Feature duplication.
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 464 of file vpFeatureSegment.cpp.
References vpFeatureSegment().
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virtual |
Computes the error between the current and the desired visual features from a subset of the possible features or .
For the angular component , we define the error as , where is modulo substraction.
s_star | : Desired 2D segment feature. |
select | : The error can be computed for a selection of a subset of the possible segment features.
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Reimplemented from vpBasicFeature.
Definition at line 363 of file vpFeatureSegment.cpp.
References selectAlpha(), selectL(), selectXc(), selectYc(), and vpColVector::stack().
Referenced by vpPoseFeatures::addFeatureSegment().
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inherited |
Get the feature vector .
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().
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inline |
Get the value of which represents the orientation of the segment.
Definition at line 125 of file vpFeatureSegment.h.
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inlineinherited |
Definition at line 123 of file vpBasicFeature.h.
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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().
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Get the length of the segment.
Definition at line 117 of file vpFeatureSegment.h.
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Get the x coordinate of the segment center in the image plane.
Definition at line 100 of file vpFeatureSegment.h.
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Get the y coordinate of the segment center in the image plane.
Definition at line 108 of file vpFeatureSegment.h.
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Get the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment first point.
Definition at line 133 of file vpFeatureSegment.h.
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inline |
Get the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment second point.
Definition at line 142 of file vpFeatureSegment.h.
References vpBasicFeature::init(), vpBasicFeature::interaction(), and vpBasicFeature::print().
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virtual |
Initialise the memory space requested for segment visual feature.
Implements vpBasicFeature.
Definition at line 65 of file vpFeatureSegment.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureSegment().
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virtual |
Compute and return the interaction matrix associated to a subset of the possible features or .
The interaction matrix of the non normalized feature set is of the following form:
with and where are the depths of the points.
select | : Selection of a subset of the possible segment features.
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The code below shows how to compute the interaction matrix associated to the visual feature .
In this case, L is a 4 by 6 matrix.
It is also possible to build the interaction matrix associated to one of the possible features. The code below shows how to modify the previous code to consider as visual feature .
In that case, L is a 2 by 6 matrix.
Implements vpBasicFeature.
Definition at line 188 of file vpFeatureSegment.cpp.
References vpBasicFeature::deallocate, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpArray2D< Type >::resize(), selectAlpha(), selectL(), selectXc(), selectYc(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.
Referenced by vpPoseFeatures::addFeatureSegment().
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inline |
Indicates if the normalized features are considered.
Definition at line 155 of file vpFeatureSegment.h.
Referenced by vpFeatureBuilder::create().
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 130 of file vpBasicFeature.h.
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virtual |
Print to stdout the values of the current visual feature .
select | : Selection of a subset of the possible segement features ( , , , ). |
produces the following output:
while
produces the following output:
Implements vpBasicFeature.
Definition at line 424 of file vpFeatureSegment.cpp.
References vpMath::deg(), vpBasicFeature::s, selectAlpha(), selectL(), selectXc(), and selectYc().
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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().
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inlinestaticinherited |
Select all the features.
Definition at line 142 of file vpBasicFeature.h.
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static |
Function used to select the subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to 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:
Definition at line 691 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 666 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 616 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 641 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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inline |
Set the value of which represents the orientation of the segment in the image plane. It is one parameter of the visual feature .
val | : value to set. |
Definition at line 218 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inlineinherited |
Definition at line 137 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
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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.
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inline |
Set the value of the segment length in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 205 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inline |
Set the king of feature to consider.
normalized | : If true, use normalized features . If false, use non normalized features . |
Definition at line 168 of file vpFeatureSegment.h.
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inline |
Set the value of the x coordinate of the segment center in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 178 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inline |
Set the value of the y coordinate of the segment center in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 192 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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Set the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment first point.
This value is requested to compute the interaction matrix.
val | : value to set. |
vpFeatureException::badInitializationError | : If Z1 is behind the camera or equal to zero. |
Definition at line 238 of file vpFeatureSegment.h.
References vpFeatureException::badInitializationError, and vpERROR_TRACE.
Referenced by buildFrom().
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Set the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment second point.
This value is requested to compute the interaction matrix.
val | : value to set. |
vpFeatureException::badInitializationError | : If Z2 is behind the camera or equal to zero. |
Definition at line 271 of file vpFeatureSegment.h.
References vpFeatureException::badInitializationError, and vpERROR_TRACE.
Referenced by buildFrom().
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protectedinherited |
Definition at line 148 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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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(), 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().
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staticinherited |
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(), selectAlpha(), 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(), selectXc(), vpFeatureVanishingPoint::selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), selectYc(), and vpFeaturePoint3D::selectZ().
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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(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), 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(), vpFeatureVanishingPoint::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(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::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().
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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(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), 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().
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protectedinherited |
State of the visual feature.
Definition at line 92 of file vpBasicFeature.h.
Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::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(), 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(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeaturePoint3D::get_Z(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), 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(), 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(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().