#include <visp3/vision/vpPoseFeatures.h>

Public Types
enum	vpPoseFeaturesMethodType { VIRTUAL_VS, ROBUST_VIRTUAL_VS }

Public Member Functions
	vpPoseFeatures ()

virtual	~vpPoseFeatures ()

void	addFeaturePoint (const vpPoint &)

void	addFeaturePoint3D (const vpPoint &)

void	addFeatureVanishingPoint (const vpPoint &)

void	addFeatureVanishingPoint (const vpLine &, const vpLine &)

void	addFeatureEllipse (const vpCircle &)

void	addFeatureEllipse (const vpSphere &)

void	addFeatureLine (const vpLine &)

void	addFeatureLine (const vpCylinder &, const int &line)

void	addFeatureSegment (vpPoint &, vpPoint &)

template<typename RetType , typename... ArgsFunc, typename... Args>
void	addSpecificFeature (RetType(*fct_ptr)(ArgsFunc...), Args &&...args)

template<typename ObjType , typename RetType , typename... ArgsFunc, typename... Args>
void	addSpecificFeature (ObjType obj, RetType(ObjType::fct_ptr)(ArgsFunc...), Args &&...args)

void	clear ()

void	computePose (vpHomogeneousMatrix &cMo, const vpPoseFeaturesMethodType &type=VIRTUAL_VS)

vpMatrix	getCovarianceMatrix () const

double	getLambda ()

unsigned int	getVVSIterMax ()

void	setCovarianceComputation (const bool &flag)

void	setLambda (const double &val)

void	setVVSIterMax (const unsigned int &val)

void	setVerbose (const bool &mode)

Detailed Description

Tools for pose computation from any feature.

This class allows to estimate a pose by virtual visual servoing from visual features. The features that are considered are points, segments, lines, ellipses. If the compiler is compatible with C++ 11, it is possible to introduce specific features that are not directly implemented in ViSP.

Examples:: testPoseFeatures.cpp.

Definition at line 376 of file vpPoseFeatures.h.

Member Enumeration Documentation

enum vpPoseFeatures::vpPoseFeaturesMethodType

Method that will be used to estimate the pose from visual features.

Enumerator
VIRTUAL_VS	Virtual visual servoing approach.
ROBUST_VIRTUAL_VS	Robust virtual visual servoing approach.

Definition at line 382 of file vpPoseFeatures.h.

Constructor & Destructor Documentation

vpPoseFeatures::vpPoseFeatures ( )

Default constructor.

Definition at line 45 of file vpPoseFeatures.cpp.

vpPoseFeatures::~vpPoseFeatures ( )

virtual

Destructor that deletes the array of features and projections.

Definition at line 56 of file vpPoseFeatures.cpp.

References clear().

Member Function Documentation

void vpPoseFeatures::addFeatureEllipse ( const vpCircle & c )

Add an ellipse feature to the list of features to be considered in the pose computation.

Parameters

c	: Ellipse projection expressed as a vpCircle.

Examples:: testPoseFeatures.cpp.

Definition at line 207 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeatureEllipse ( const vpSphere & s )

Add an ellipse feature to the list of features to be considered in the pose computation.

Parameters

s	: Ellipse projection expressed as a vpSphere.

Definition at line 189 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeatureLine ( const vpLine & l )

Add a line feature to the list of features to be considered in the pose computation.

Parameters

l	: Line projection expressed as a vpLine.

Definition at line 225 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeatureLine	(	const vpCylinder &	c,
		const int &	line
	)

Add a line feature to the list of features to be considered in the pose computation.

Parameters

c	: Line projection expressed as a vpCylinder.
line	: Integer id that indicates which limb of the cylinder is to consider. It can be vpCylinder::line1 or vpCylinder::line2.

Definition at line 245 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeaturePoint ( const vpPoint & p )

Add a point feature to the list of features to be considered in the pose computation.

Parameters

p	: Point projection expressed as a vpPoint.

Examples:: testPoseFeatures.cpp.

Definition at line 115 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeaturePoint3D ( const vpPoint & p )

Add a point 3D feature to the list of features to be considered in the pose computation.

Parameters

p	: Projection expressed as a vpPoint.

Examples:: testPoseFeatures.cpp.

Definition at line 133 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeatureSegment	(	vpPoint &	P1,
		vpPoint &	P2
	)

Add a segment feature to the list of features to be considered in the pose computation.

Parameters

P1	: First extremity projection.
P2	: Second extremity projection.

Definition at line 265 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create(), vpFeatureSegment::error(), vpFeatureVanishingPoint::error(), vpFeatureEllipse::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpMatrix::stack(), vpColVector::stack(), and vpForwardProjection::track().

void vpPoseFeatures::addFeatureVanishingPoint ( const vpPoint & p )

Add a vanishing point feature to the list of features to be considered in the pose computation.

Parameters

p	: Projection expressed as a vpPoint.

Examples:: testPoseFeatures.cpp.

Definition at line 151 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

void vpPoseFeatures::addFeatureVanishingPoint	(	const vpLine &	l1,
		const vpLine &	l2
	)

Add a vanishing point feature to the list of features to be considered in the pose computation.

Parameters

l1	: First line used to create the feature.
l2	: Second line used to create the feature.

Definition at line 170 of file vpPoseFeatures.cpp.

References vpFeatureBuilder::create().

template<typename RetType , typename... ArgsFunc, typename... Args>

void vpPoseFeatures::addSpecificFeature	(	RetType(*)(ArgsFunc...)	fct_ptr,
		Args &&...	args
	)

Add a specific feature for the pose computation.

Parameters

fct_ptr	: pointer on the function used to create the feature.
args	: List of function parameters; First argument supposed to be derived from vpBasicFeature (redefine interaction() and error() functions), others are supposed to be derived from vpForwardProjection (redefine track() function)

Warning: This function is only available with C++11. It has to be activated with USE_CPP11 option from CMake.

#include <visp3/core/vpConfig.h>
#include <visp3/vision/vpPoseFeatures.h>
void vp_createPoint(vpFeaturePoint &fp,const vpPoint &p){
  vpFeatureBuilder::create(fp,p);
}
void vp_createTwoPoint(vpFeaturePoint &fp,const vpPoint &p, const vpPoint&p2){
  vpFeatureBuilder::create(fp,p);
  vpFeatureBuilder::create(fp,p2);
}
void vp_createLine(vpFeatureLine &fp,const vpLine &l){
  vpFeatureBuilder::create(fp,l);
}
int main()
{
  vpPoseFeatures pose;
  vpPoint pts[4];
  vpLine line;
  //... Projection of the points and line
  vpFeaturePoint fp;
  vpFeatureLine fl;
  void (*ptr)(vpFeaturePoint&, const vpPoint&) = &vpFeatureBuilder::create;
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
  pose.addSpecificFeature(ptr, fp, pts[0]);
  pose.addSpecificFeature(&vp_createPoint, fp, pts[1]);
  pose.addSpecificFeature(&vp_createTwoPoint, fp, pts[2], pts[3]);
  pose.addSpecificFeature(&vp_createLine, fl, line);
#endif
  //... Pose Computation
  return 0;
}

Examples:: testPoseFeatures.cpp.

Definition at line 593 of file vpPoseFeatures.h.

template<typename ObjType , typename RetType, typename... ArgsFunc, typename... Args>

void vpPoseFeatures::addSpecificFeature	(	ObjType *	obj,
		RetType(ObjType::*)(ArgsFunc...)	fct_ptr,
		Args &&...	args
	)

Add a specific feature for the pose computation.

Parameters

obj	: object used to call the function defined by fct_ptr.
fct_ptr	: pointer on the function used to create the feature.
args	: List of function parameters; First argument supposed to be derived from vpBasicFeature (redefine interaction() and error() functions), others are supposed to be derived from vpForwardProjection (redefine track() function)

Warning: This function is only available with C++11. It has to be activated with USE_CPP11 option from CMake.

#include <visp3/core/vpConfig.h>
#include <visp3/vision/vpPoseFeatures.h>
class vp_createClass{
public:
  vp_createClass(){}
  int vp_createPoint(vpFeaturePoint &fp,const vpPoint &p) {
    vpFeatureBuilder::create(fp,p);
    return 2;
  }
  void vp_createTwoPoint(vpFeaturePoint &fp,const vpPoint &p, const vpPoint &p2) {
    vpFeatureBuilder::create(fp,p); vpFeatureBuilder::create(fp,p2);
  }
  void vp_createLine(vpFeatureLine &fp,const vpLine &l) {
    vpFeatureBuilder::create(fp,l);
  }
};
int main()
{
  vpPoseFeatures pose;
  vpPoint pts[3];
  vpLine line;
  //... Projection of the points and line
  vpFeaturePoint fp;
  vpFeatureLine fl;
  vp_createClass cpClass;
  int (vp_createClass::*ptrClassPoint)(vpFeaturePoint&, const vpPoint&)
    = &vp_createClass::vp_createPoint;
  void (vp_createClass::*ptrClassTwoPoint)(vpFeaturePoint&, const vpPoint&, const vpPoint&)
    = &vp_createClass::vp_createTwoPoint;
  void (vp_createClass::*ptrClassLine)(vpFeatureLine &, const vpLine &)
    = &vp_createClass::vp_createLine;
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
  pose.addSpecificFeature(&cpClass, ptrClassPoint, fp, pts[0]);
  pose.addSpecificFeature(&cpClass, ptrClassTwoPoint, fp, pts[1], pts[2]);
  pose.addSpecificFeature(&cpClass, ptrClassLine, fl, line);
#endif
  //... Pose Computation
  return 0;
}

Definition at line 675 of file vpPoseFeatures.h.

void vpPoseFeatures::clear ( )

Clear all the features

Definition at line 61 of file vpPoseFeatures.cpp.

Referenced by ~vpPoseFeatures().

void vpPoseFeatures::computePose	(	vpHomogeneousMatrix &	cMo,
		const vpPoseFeaturesMethodType &	type = `VIRTUAL_VS`
	)

Compute the pose according to the desired method (virtual visual servoing, or robust virtual visual servoing approach).

Parameters

cMo	: Computed pose.
type	: Method to use for the pose computation.

The virtual visual servoing approach is described in [25].
The robust virtual visual servoing approach is described in [7].

Examples:: testPoseFeatures.cpp.

Definition at line 413 of file vpPoseFeatures.cpp.

References vpMatrix::computeCovarianceMatrix(), vpExponentialMap::direct(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpRobust::MEstimator(), vpMatrix::pseudoInverse(), vpArray2D< Type >::resize(), vpColVector::resize(), ROBUST_VIRTUAL_VS, vpRobust::setIteration(), vpRobust::setThreshold(), vpMath::sqr(), vpColVector::sumSquare(), vpRobust::TUKEY, VIRTUAL_VS, vpERROR_TRACE, and vpTRACE.

vpMatrix vpPoseFeatures::getCovarianceMatrix ( ) const

inline

Get the covariance matrix of the pose parameters computed by virtual visual servoing.

Warning: By default, the covariance matrix is not computed. To enable the computation, use setCovarianceComputation().

Examples:: testPoseFeatures.cpp.

Definition at line 475 of file vpPoseFeatures.h.

References vpTRACE.

double vpPoseFeatures::getLambda ( )

inline

Get the gain that is used to compute the pose with the control law ${\bf v} = -\lambda {\bf L}^+ ({\bf s} - {\bf s}^*)$ .

Returns: Value of $\lambda$ , the gain of the control law.

Definition at line 490 of file vpPoseFeatures.h.

unsigned int vpPoseFeatures::getVVSIterMax ( )

inline

Get the maximum number of iterations of the virtual visual servoing (VVS) scheme implemented in computePose().

Returns: Maximum number of iterations used during VVS minimization.

Definition at line 498 of file vpPoseFeatures.h.

void vpPoseFeatures::setCovarianceComputation ( const bool & flag )

inline

Enable or disable covariance computation of the pose parameters.

Parameters

flag	: True if the covariance has to be computed, false otherwise.

Examples:: testPoseFeatures.cpp.

Definition at line 505 of file vpPoseFeatures.h.

void vpPoseFeatures::setLambda ( const double & val )

inline

Set the gain used in the virtual visual servoing scheme : ${\bf v} = -\lambda {\bf L}^+ ({\bf s} - {\bf s}^*)$ .

Parameters

val	: Value of the gain $\lambda$ .

Examples:: testPoseFeatures.cpp.

Definition at line 513 of file vpPoseFeatures.h.

void vpPoseFeatures::setVerbose ( const bool & mode )

inline

Turn the verbose mode ON / OFF.

Parameters

mode	: new verbose state. True to turn ON, false otherwise.

Examples:: testPoseFeatures.cpp.

Definition at line 527 of file vpPoseFeatures.h.

void vpPoseFeatures::setVVSIterMax ( const unsigned int & val )

inline

Set the maximum number of iterations used in computePose().

Parameters

val	: Maximum number of iteration used in the VVS scheme.

Examples:: testPoseFeatures.cpp.

Definition at line 520 of file vpPoseFeatures.h.

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation