#include <vpFeatureVanishingPoint.h>

Inheritance diagram for vpFeatureVanishingPoint:

Public Types
enum	{ FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user, vpServo }

Public Member Functions
	vpFeatureVanishingPoint ()

virtual	~vpFeatureVanishingPoint ()

void	buildFrom (double x, double y)

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

vpFeatureVanishingPoint *	duplicate () const

vpColVector	error (const vpBasicFeature &s_star, unsigned int select=(selectX()\|selectY()))

double	get_x () const

double	get_y () const

double	getAtanOneOverRho () const

double	getOneOverRho () const

double	getAlpha () const

void	init ()

vpMatrix	interaction (unsigned int select=(selectX()\|selectY()))

void	print (unsigned int select=(selectX()\|selectY())) const

void	set_x (double x)

void	set_y (double y)

void	set_xy (double x, double y)

void	setAtanOneOverRho (double atan_one_over_rho)

void	setOneOverRho (double one_over_rho)

void	setAlpha (double alpha)

Inherited functionalities from vpBasicFeature
unsigned int	dimension_s ()

vpColVector	get_s (unsigned int select=FEATURE_ALL) const

vpBasicFeatureDeallocatorType	getDeallocate ()

unsigned int	getDimension (unsigned int select=FEATURE_ALL) const

virtual double	operator[] (unsigned int i) const

void	setDeallocate (vpBasicFeatureDeallocatorType d)

void	setFlags ()

Static Public Member Functions
static unsigned int	selectAlpha ()

static unsigned int	selectAtanOneOverRho ()

static unsigned int	selectOneOverRho ()

static unsigned int	selectX ()

static unsigned int	selectY ()

static unsigned int	selectAll ()

Static Public Attributes
static const unsigned int	FEATURE_LINE [32]

Protected Member Functions
void	resetFlags ()

Protected Attributes
unsigned int	m_select

vpColVector	s

unsigned int	dim_s

bool *	flags

unsigned int	nbParameters

vpBasicFeatureDeallocatorType	deallocate

Detailed Description

Class that defines 2D vanishing point visual features. Various features can be considered:

Either the cartesian coordinates of the vanishing point obtained from the intersection of two lines; in that case ${\bf s} = (x, y)$ and the corresponding interaction matrices are:
$L_x = \left[ \begin{array}{cccccc} 0 & 0 & 0 & x y & -(1 + x^2) & y \end{array} \right]$

$L_y = \left[ \begin{array}{cccccc} 0 & 0 & 0 & 1 + y * y & -xy & -x \end{array} \right]$
Rather features fonction of the polar coordinates of the vanishing point obtained themselves from the polar coordinates of the two lines $(\rho_1, \theta_1)$ and $(\rho_2, \theta_2)$ ; in that case ${\bf s} = (\arctan(1/\rho), 1/\rho, \alpha)$ with:
$1/\rho = \frac{\sin(\theta_1 - \theta_2)}{\sqrt{\rho_1^2 + \rho_2^2 - 2 \rho_1 \rho_2 cos(\theta_1 - \theta_2)}}$

$\alpha = \frac{\rho_1 \cos \theta_2 - \rho_2 cos \theta_1}{\sqrt{\rho_1^2 + \rho_2^2 - 2 \rho_1 \rho_2 cos(\theta_1 - \theta_2)}}$
The corresponding interaction matrices are:
$L_{\arctan(\frac{1}{\rho})} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & - \sin \alpha & \cos \alpha & 0 \end{array} \right]$

$L_{\frac{1}{\rho}} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & -(1 + \frac{1}{\rho^2}) \sin \alpha & (1 + \frac{1}{\rho^2}) \cos \alpha & 0 \end{array} \right]$

$L_{\alpha} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & \frac{\cos \alpha}{\rho} & \frac{\sin \alpha}{\rho} & -1 \end{array} \right]$

Examples:: servoBebop2.cpp.

Definition at line 75 of file vpFeatureVanishingPoint.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

vpFeatureVanishingPoint::vpFeatureVanishingPoint ( )

Default constructor that calls init().

Definition at line 77 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by duplicate().

virtual vpFeatureVanishingPoint::~vpFeatureVanishingPoint ( )

inlinevirtual

Destructor.

Definition at line 87 of file vpFeatureVanishingPoint.h.

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

Member Function Documentation

void vpFeatureVanishingPoint::buildFrom	(	double	x,
		double	y
	)

Set vanishing point visual feature ${\bf s} = (x, y)$ from cartesian coordinates. Same as set_xy().

Definition at line 350 of file vpFeatureVanishingPoint.cpp.

References set_xy().

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

virtual

Display vanishing 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 363 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), m_select, selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

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

virtual

Display vanishing 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 397 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), m_select, selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const

virtual

Duplicate visual feature (used by the vpServo class only).

Implements vpBasicFeature.

Definition at line 426 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

vpColVector vpFeatureVanishingPoint::error	(	const vpBasicFeature &	s_star,
		unsigned int	select = `(selectX() \| selectY())`
	)

virtual

Compute the error between two visual features from a subset of the possible features.

Parameters

s_star	: Desired visual feature ${\bf s}^*$ .
select	: Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for $1/\rho$ , or selectAlpha() for $\alpha$ visual feature. You can also use a combination like selectX() \| selectY() to select x and y visual features.

Reimplemented from vpBasicFeature.

Definition at line 274 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpPoseFeatures::addFeatureSegment().

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 vpFeatureVanishingPoint::get_x ( ) const

Get vanishing point feature $ x $ value.

Definition at line 88 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::get_y ( ) const

Get vanishing point feature $ y $ value.

Definition at line 99 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::getAlpha ( ) const

Get vanishing point feature $\alpha$ value.

Definition at line 140 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::getAtanOneOverRho ( ) const

Get vanishing point feature $\arctan(1/\rho)$ value.

Definition at line 129 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

Referenced by display(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 123 of file vpBasicFeature.h.

unsigned int vpBasicFeature::getDimension ( 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().

double vpFeatureVanishingPoint::getOneOverRho ( ) const

Get vanishing point feature $1/\rho$ value.

Definition at line 126 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

void vpFeatureVanishingPoint::init ( void )

virtual

Vanishing point visual feature initialization.

Implements vpBasicFeature.

Definition at line 61 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

vpMatrix vpFeatureVanishingPoint::interaction ( unsigned int select = (selectX() | selectY()) )

virtual

Compute the interaction matrix from a subset of the possible features.

Parameters

select : Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for $1/\rho$ , or selectAlpha() for $\alpha$ visual feature. You can also use a combination like selectX() | selectY() to select x and y visual features.

Implements vpBasicFeature.

Definition at line 150 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), getAlpha(), getOneOverRho(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), selectY(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.

Referenced by vpPoseFeatures::addFeatureSegment().

virtual double vpBasicFeature::operator[] ( 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 vpFeatureVanishingPoint::print ( unsigned int select = (selectX() | selectY()) ) const

virtual

Print vanishing point features values to stdout.

Parameters

select : Use either selectX() to display x value, selectY() to display y value, select selectOneOverRho() to display $1/\rho$ value, or selectAlpha() to display $\alpha$ value. You can also use a combination like selectX() | selectY() to display x and y values.

Implements vpBasicFeature.

Definition at line 329 of file vpFeatureVanishingPoint.cpp.

References get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

void vpBasicFeature::resetFlags ( )

protectedinherited

Definition at line 131 of file vpBasicFeature.cpp.

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

Referenced by 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.

unsigned int vpFeatureVanishingPoint::selectAlpha ( )

static

Select $s = \theta$ visual feature.

Definition at line 451 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectAtanOneOverRho ( )

static

Select visual feature $s = \arctan(1/\rho)$ .

Examples:: servoBebop2.cpp.

Definition at line 446 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectOneOverRho ( )

static

Select visual feature $s = 1/\rho$ .

Definition at line 441 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectX ( )

static

Select visual feature $ s = x $ .

Definition at line 433 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), display(), error(), interaction(), print(), set_x(), and set_xy().

unsigned int vpFeatureVanishingPoint::selectY ( )

static

Select visual feature $ s = y $ .

Definition at line 436 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), display(), error(), interaction(), print(), set_xy(), and set_y().

void vpFeatureVanishingPoint::set_x ( double x )

Set vanishing point feature $ x $ value.

Definition at line 80 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectX().

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

void vpFeatureVanishingPoint::set_xy	(	double	x,
		double	y
	)

Set vanishing point visual feature ${\bf s} = (x, y)$ from cartesian coordinates. Same as buildFrom().

Definition at line 102 of file vpFeatureVanishingPoint.cpp.

References m_select, selectX(), selectY(), set_x(), and set_y().

Referenced by buildFrom().

void vpFeatureVanishingPoint::set_y ( double y )

Set vanishing point feature $ y $ value.

Definition at line 91 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectY().

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

void vpFeatureVanishingPoint::setAlpha ( double alpha )

Set vanishing point feature $\alpha$ value.

Examples:: servoBebop2.cpp.

Definition at line 132 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectAlpha().

Referenced by vpFeatureBuilder::create().

void vpFeatureVanishingPoint::setAtanOneOverRho ( double atan_one_over_rho )

Set vanishing point feature $\arctan(1/\rho)$ value.

Examples:: servoBebop2.cpp.

Definition at line 118 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectAtanOneOverRho().

Referenced by vpFeatureBuilder::create().

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.

void vpFeatureVanishingPoint::setOneOverRho ( double one_over_rho )

Set vanishing point feature $1/\rho$ value.

Definition at line 110 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectOneOverRho().

Referenced by vpFeatureBuilder::create().

Member Data Documentation

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

protectedinherited

Definition at line 148 of file vpBasicFeature.h.

Referenced by 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 vpGenericFeature::duplicate(), vpFeatureMoment::duplicate(), vpFeatureLuminance::error(), vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), init(), vpFeatureLuminance::init(), vpFeatureEllipse::init(), vpFeatureSegment::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().

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.

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 vpFeatureVanishingPoint::m_select

protected

Definition at line 119 of file vpFeatureVanishingPoint.h.

Referenced by display(), init(), set_x(), set_xy(), set_y(), setAlpha(), setAtanOneOverRho(), and setOneOverRho().

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