#include <visp3/visual_features/vpGenericFeature.h>

Inheritance diagram for vpGenericFeature:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpGenericFeature (unsigned int dim)

virtual	~vpGenericFeature ()

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

vpGenericFeature *	duplicate () const

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

vpColVector	error (const unsigned int select=FEATURE_ALL)

vpMatrix	getInteractionMatrix () const

void	get_s (vpColVector &s) const

void	get_s (double &s0) const

void	get_s (double &s0, double &s1) const

void	get_s (double &s0, double &s1, double &s2) const

void	init ()

vpMatrix	interaction (const unsigned int select=FEATURE_ALL)

void	print (const unsigned int select=FEATURE_ALL) const

void	setInteractionMatrix (const vpMatrix &L)

void	setError (const vpColVector &error_vector)

void	set_s (const vpColVector &s)

void	set_s (const double s0)

void	set_s (const double s0, const double s1)

void	set_s (const double s0, const double s1, const double s2)

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	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 enables to define a feature or a set of features which are not implemented in ViSP as a specific class. It is indeed possible to create its own features, to use the corresponding interaction matrix, and to compute an error between the current and the desired feature. Moreover the created features can be mixed with features already implemented.

The following example shows how to use the vpGenericFeature class to create and use the feature $ log(Z) $ where Z corresponds to the depth of a point whose 2D coordinates in the camera frame are $ x $ and $ y $ . The interaction matrix corresponding to this feature is

$L = \left[\begin{array}{cccccc} 0 & 0 & -1/Z & -y & x & 0 \end{array}\right]$

.

#include <visp3/core/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
int main()
{
  vpServo task; // Visual servoing task
  //First we have to define the desired feature log(Z*) corresponding to the desired point.
  double xd = 0; //The x coordinate of the desired point.
  double yd = 0; //The y coordinate of the desired point.
  double Zd = 1; //The depth of the desired point.
  vpGenericFeature logZd(1); //The dimension of the feature is 1.
  logZd.set_s( log(Zd) );
  //Then we have to define the current feature log(Z) corresponding to the current point.
  double x = 1; //The x coordinate of the current point.
  double y = 1; //The y coordinate of the current point.
  double Z = 2; //The depth of the current point.
  vpGenericFeature logZ(1); //The dimension of the feature is 1.
  logZ.set_s( log(Z) );
  // 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 current visual features sd
  task.setInteractionMatrixType(vpServo::CURRENT);
  // Add the point feature to the task
  task.addFeature(logZ, logZd);
  // Control loop
  for ( ; ; ) {
    // The new parameters x, y and Z must be computed here.
    // Update the current point visual feature
    logZ.set_s( log(Z) ) ;
    // We have to compute the interaction matrix corresponding to the feature.
    vpMatrix LlogZ(1,6) ;
    LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0 ;
    LlogZ[0][2] = -1/Z;
    LlogZ[0][3] = -y;
    LlogZ[0][4] =  x;
    logZ.setInteractionMatrix(LlogZ) ;
    // compute the control law
    vpColVector v = task.computeControlLaw(); // camera velocity
  }
  return 0;
}

The second example shows how to create and use a feature whose specificity is to have a desired feature fixed to zero. It is the case for the feature $log( \frac{Z}{Z^*})$ .

#include <visp3/core/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
int main()
{
  vpServo task; // Visual servoing task
  //First we have to define the desired feature log(Z*) corresponding to the desired point.
  double xd = 0; //The x coordinate of the desired point.
  double yd = 0; //The y coordinate of the desired point.
  double Zd = 1; //The depth of the desired point.
  //Then we have to define the current feature log(Z) corresponding to the current point.
  double x = 1; //The x coordinate of the current point.
  double y = 1; //The y coordinate of the current point.
  double Z = 2; //The depth of the current point.
  vpGenericFeature logZ(1); //The dimension of the feature is 1.
  logZ.set_s( log(Z/Zd) );
  // 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 current visual features sd
  task.setInteractionMatrixType(vpServo::CURRENT);
  // Add the point feature to the task
  task.addFeature(logZ);
  // Control loop
  for ( ; ; ) {
    // The new parameters x, y and Z must be computed here.
    // Update the current point visual feature
    logZ.set_s( log(Z/Zd) ) ;
    // We have to compute the interaction matrix corresponding to the feature.
    vpMatrix LlogZ(1,6) ;
    LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0 ;
    LlogZ[0][2] = -1/Z;
    LlogZ[0][3] = -y;
    LlogZ[0][4] =  x;
    logZ.setInteractionMatrix(LlogZ) ;
    // compute the control law
    vpColVector v = task.computeControlLaw(); // camera velocity
  }
  return 0;
}

If the feature needs to be use with other features, the example servoSimuPoint2DhalfCamVelocity2.cpp shows how to do it.

Examples:: servoSimuPoint2DhalfCamVelocity2.cpp, and servoSimuSphere.cpp.

Definition at line 182 of file vpGenericFeature.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

vpGenericFeature::vpGenericFeature ( unsigned int dimension_gen_s )

explicit

Constructor of the class you have to use. The feature table is initilialized with the good dimension.

Parameters

dimension_gen_s : Dimension of the generic feature. It corresponds to the number of features you want to create.

Definition at line 87 of file vpGenericFeature.cpp.

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

vpGenericFeature::~vpGenericFeature ( )

virtual

Definition at line 54 of file vpGenericFeature.cpp.

Member Function Documentation

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

virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 628 of file vpGenericFeature.cpp.

References vpERROR_TRACE.

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

virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 643 of file vpGenericFeature.cpp.

References vpERROR_TRACE.

vpGenericFeature * vpGenericFeature::duplicate ( ) const

virtual

Implements vpBasicFeature.

Definition at line 617 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, and vpTRACE.

vpColVector vpGenericFeature::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.

Exceptions

if errorHasBeenInitialized is true (that is if vpGenericFeature::setError have been used) then s_star is useless. In that since the error HAS TO BE recomputed at each iteration errorHasBeenInitialized is set to errHasToBeUpdated if vpGenericFeature::serError is not used in the loop then an exception is thrown

obviously if vpGenericFeature::setError is not used then s_star is considered and this warning is meaningless.

Parameters

s_star : Desired visual feature.

select

: The error can be computed for a selection of a subset of the possible features.

To compute the error for all the features use vpBasicFeature::FEATURE_ALL. In that case the error vector column vector whose dimension is equal to the number of features.
To compute the error for only one of the component feature you have to say which one you want to take into account. If it is the first one set select to vpBasicFeature::FEATURE_LINE[0], if it is the second one set select to vpBasicFeature::FEATURE_LINE[1], and so on. In that case the error vector is a 1 dimension column vector.
To compute the error for only two of the component feature you have to say which ones you want to take into account. If it is the first one and the second one set select to vpBasicFeature::FEATURE_LINE[0] | vpBasicFeature::FEATURE_LINE[1]. In that case the error vector is a 2 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 two visual features over three:

// Creation of the current feature s
vpGenericFeature s(3);
s.set_s(0, 0, 0);
// Creation of the desired feature s*
vpGenericFeature s_star(3);
s_star.set_s(1, 1, 1);
// Here you have to compute the interaction matrix L
s.setInteractionMatrix(L);
// Compute the error vector (s-s*) for the two first features
s.error(s_star, vpBasicFeature::FEATURE_LINE[0] | vpBasicFeature::FEATURE_LINE[1]);

Reimplemented from vpBasicFeature.

Definition at line 169 of file vpGenericFeature.cpp.

References vpFeatureException::badErrorVectorError, vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::get_s(), vpArray2D< Type >::getRows(), vpBasicFeature::s, vpFeatureException::sizeMismatchError, vpColVector::stack(), vpDEBUG_TRACE, and vpERROR_TRACE.

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

Compute the error $ (s-s^*)$ between the current and the desired visual features from a subset of the possible features. But in this case the desired feature is considered as set to 0.

Parameters

select

: The error can be computed for a selection of a subset of the possible features.

To compute the error for all the features use vpBasicFeature::FEATURE_ALL. In that case the error vector column vector whose dimension is equal to the number of features.
To compute the error for only one of the component feature you have to say which one you want to take into account. If it is the first one set select to vpBasicFeature::FEATURE_LINE[0], if it is the second one set select to vpBasicFeature::FEATURE_LINE[1], and so on. In that case the error vector is a 1 dimension column vector.
To compute the error for only two of the component feature you have to say which ones you want to take into account. If it is the first one and the second one set select to vpBasicFeature::FEATURE_LINE[0] | vpBasicFeature::FEATURE_LINE[1]. In that case the error vector is a 2 dimension column vector.

Returns: The error between the current and the desired visual feature which is automatically set to zero.

The code below shows how to use this method to manipulate the two visual features over three:

// Creation of the current feature s
vpGenericFeature s(3);
s.set_s(0, 0, 0);
// Here you have to compute the interaction matrix L
s.setInteractionMatrix(L);
// Compute the error vector (s-s*) for the two first features
s.error(vpBasicFeature::FEATURE_LINE[0] | vpBasicFeature::FEATURE_LINE[1]);

Definition at line 254 of file vpGenericFeature.cpp.

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

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(), error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), and getInteractionMatrix().

void vpGenericFeature::get_s ( vpColVector & s_vector ) const

get the value of all the features.

Parameters

s_vector : It is a vector which will contain the value of the visual features.

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Examples:: servoSimuSphere.cpp.

Definition at line 427 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::get_s ( double & s0 ) const

get the value of one feature if the number of feature is equal to 1.

Parameters

s0	: value of the visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 572 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::get_s	(	double &	s0,
		double &	s1
	)		const

get the value of two features if the number of feature is equal to 2.

Parameters

s0	: value of the first visual feature
s1	: value of the second visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 529 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::get_s	(	double &	s0,
		double &	s1,
		double &	s2
	)		const

get the value of three features if the number of feature is equal to 3.

Parameters

s0	: value of the first visual feature
s1	: value of the second visual feature
s2	: value of the third visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 480 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

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().

vpMatrix vpGenericFeature::getInteractionMatrix ( ) const

inline

Definition at line 202 of file vpGenericFeature.h.

References vpBasicFeature::get_s(), vpBasicFeature::init(), vpBasicFeature::interaction(), and vpBasicFeature::print().

void vpGenericFeature::init ( void )

virtual

Implements vpBasicFeature.

Definition at line 56 of file vpGenericFeature.cpp.

References vpBasicFeature::s.

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

virtual

Compute and return the interaction matrix $ L $ for the whole features or a part of them.

Parameters

select

: Selection of a subset of the possible features.

To compute the interaction matrix for all the features use vpBasicFeature::FEATURE_ALL. In that case the dimension of the interaction matrix is $[number of features \times 6]$
To compute the interaction matrix for only one of the component feature you have to say which one you want to take into account. If it is the first one set select to vpBasicFeature::FEATURE_LINE[0], if it is the second one set select to vpBasicFeature::FEATURE_LINE[1], and so on. In that case the returned interaction matrix is $[1 \times 6]$ dimension.
To compute the interaction matrix for only two of the component features you have to say which ones you want to take into account. If it is the first one and the second one set select to vpBasicFeature::FEATURE_LINE[0] | vpBasicFeature::FEATURE_LINE[1]. In that case the returned interaction matrix is $[2 \times 6]$ dimension.

Returns: The interaction matrix computed from the features.

The code below shows how to compute the interaction matrix associated to the first visual feature.

// Creation of the current feature s
vpGenericFeature s(3);
s.set_s(0, 0, 0);
// Here you have to compute the interaction matrix L for all the three
features s.setInteractionMatrix(L);
vpMatrix L_x = s.interaction( vpBasicFeature::FEATURE_LINE[0] );

The code below shows how to compute the interaction matrix associated to two visual features over three.

// Creation of the current feature s
vpGenericFeature s(3);
s.set_s(0, 0, 0);
// Here you have to compute the interaction matrix L
s.setInteractionMatrix(L);
vpMatrix L_x = s.interaction( vpBasicFeature::FEATURE_LINE[0]|vpBasicFeature::FEATURE_LINE[1] );

Implements vpBasicFeature.

Definition at line 341 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), vpFeatureException::notInitializedError, vpArray2D< Type >::resize(), vpMatrix::stack(), and vpERROR_TRACE.

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 vpGenericFeature::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 features.

To print all the features use vpBasicFeature::FEATURE_ALL.
To print only one of the component features you have to say which one you want to take into account. If it is the first one set select to vpBasicFeature::FEATURE_LINE[0], if it is the second one set select to vpBasicFeature::FEATURE_LINE[1], and so on.

vpGenericFeature s; // Current visual feature s
// Creation of the current feature s
s.set_s(0, 0, 0);
s.print(); // print all components of the feature
s.print(vpBasicFeature::FEATURE_ALL);  // same behavior then previous line
s.print(vpBasicFeature::FEATURE_LINE[0]); // print only the first component

Implements vpBasicFeature.

Definition at line 605 of file vpGenericFeature.cpp.

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

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 131 of file vpBasicFeature.cpp.

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

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

static unsigned int vpBasicFeature::selectAll ( )

inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

void vpGenericFeature::set_s ( const vpColVector & s_vector )

set the value of all the features.

Parameters

s_vector : It is a vector containing the value of the visual features.

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Examples:: servoSimuSphere.cpp.

Definition at line 405 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::set_s ( const double s0 )

set the value of one feature if the number of feature is equal to 1.

Parameters

s0	: value of the visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 551 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::set_s	(	const double	s0,
		const double	s1
	)

set the value of two features if the number of feature is equal to 2.

Parameters

s0	: value of the first visual feature
s1	: value of the second visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 505 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpGenericFeature::set_s	(	const double	s0,
		const double	s1,
		const double	s2
	)

set the value of three features if the number of feature is equal to 3.

Parameters

s0	: value of the first visual feature
s1	: value of the second visual feature
s2	: value of the third visual feature

Exceptions

an	exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor

Definition at line 452 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType d )

inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

void vpGenericFeature::setError ( const vpColVector & error_vector )

Set the error vector $(s-s*)$ .

Parameters

error_vector : Error vector .

Exceptions

vpFeatureException::sizeMismatchError : If the size of the error vector is bad.

Definition at line 102 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

void vpBasicFeature::setFlags ( )

inherited

Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.

Definition at line 141 of file vpBasicFeature.cpp.

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

void vpGenericFeature::setInteractionMatrix ( const vpMatrix & L_ )

set the value of the interaction matrix.

Parameters

L_	: The matrix corresponding to the interaction matrix you computed.

Exceptions

an	exception is thrown if the number of row of the interaction matrix is different from the dimension of the visual feature as specified in the constructor

Definition at line 381 of file vpGenericFeature.cpp.

References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpFeatureException::sizeMismatchError, and vpERROR_TRACE.

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(), 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 duplicate(), vpFeatureMoment::duplicate(), vpFeatureLuminance::error(), vpBasicFeature::error(), error(), vpBasicFeature::get_s(), get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureLuminance::interaction(), interaction(), vpFeatureMoment::interaction(), vpFeatureLuminance::operator=(), vpBasicFeature::operator=(), print(), vpFeatureMoment::print(), set_s(), setError(), setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and 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(), error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), interaction(), vpFeatureMoment::interaction(), print(), vpFeatureMoment::print(), vpFeatureSegment::selectAlpha(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureVanishingPoint::selectX(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), vpFeatureVanishingPoint::selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

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.

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation