Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/visual_features/vpFeatureLine.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Public Member Functions | |
vpFeatureLine () | |
virtual | ~vpFeatureLine () |
void | buildFrom (double rho, double theta) |
void | buildFrom (double rho, double theta, double A, double B, double C, double D) |
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 |
vpFeatureLine * | duplicate () const |
vpColVector | error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) |
double | getRho () const |
double | getTheta () const |
void | init () |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) |
void | print (unsigned int select=FEATURE_ALL) const |
void | setRhoTheta (double rho, double theta) |
void | setABCD (double A, double B, double C, double D) |
Static Public Member Functions | |
static unsigned int | selectRho () |
static unsigned int | selectTheta () |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Attributes | |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
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 unsigned int | selectAll () |
vpBasicFeatureDeallocatorType | deallocate |
void | resetFlags () |
Class that defines a 2D line visual feature which is composed by two parameters that are and , the polar coordinates of a line.
In this class, the equation of the line in the image plane is given by :
Here and are the coordinates of a point belonging to the line and they are given in meter. The following image shows the meanings of the distance and the angle .
You have to note that the angle has its value between and and that the distance can be positive or negative. The conventions are illustrated by the image above.
The visual features can be set easily from an instance of the classes vpLine, vpMeLine or vpCylinder. For more precision see the class vpFeatureBuilder.
Once the values of the visual features are set, the interaction() method allows to compute the interaction matrix associated to the visual feature, while the error() method computes the error vector between the current visual feature and the desired one.
The code below shows how to create a eye-in hand visual servoing task using a 2D line feature that correspond to the 2D equation of a line in the image plan. To control six degrees of freedom, at least four other features must be considered like two other line features for example. First we create a current ( ) 2D line feature. Then we set the task to use the interaction matrix associated to the current feature . And finally we compute the camera velocity . The current feature is updated in the while() loop.
If you want to build your own control law, this other example shows how to create a current ( ) and desired ( ) 2D line visual feature, compute the corresponding error vector and finally build the interaction matrix .
Definition at line 192 of file vpFeatureLine.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 81 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 87 of file vpBasicFeature.h.
vpFeatureLine::vpFeatureLine | ( | ) |
Default constructor that build a visual feature.
Definition at line 95 of file vpFeatureLine.cpp.
References init().
Referenced by duplicate().
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inlinevirtual |
Destructor.
Definition at line 206 of file vpFeatureLine.h.
void vpFeatureLine::buildFrom | ( | double | rho, |
double | theta | ||
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Build a 2D line visual feature from the line equation parameters and given in the image plan.
See the vpFeatureLine class description for more details about and .
rho | : The parameter. |
theta | : The parameter. |
Definition at line 384 of file vpFeatureLine.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
Referenced by vpFeatureBuilder::create().
void vpFeatureLine::buildFrom | ( | double | rho, |
double | theta, | ||
double | A_, | ||
double | B_, | ||
double | C_, | ||
double | D_ | ||
) |
Build a 2D line visual feature from the line equation parameters and given in the image plan. The parameters A, B, C and D which describe the equation of a plan to which the line belongs, are set in the same time.
See the vpFeatureLine class description for more details about and .
The A, B, C, D parameters are needed to compute the interaction matrix associated to a visual feature. Normally, two plans are needed to describe a line (the intersection of those two plans). But to compute the interaction matrix only one plan equation is required. The only one restrictions is that the value of D must not be equal to zero !
rho | : The parameter. |
theta | : The parameter. |
A_ | : A parameter of the plan equation. |
B_ | : B parameter of the plan equation. |
C_ | : C parameter of the plan equation. |
D_ | : D parameter of the plan equation. |
Definition at line 420 of file vpFeatureLine.cpp.
References vpBasicFeature::flags, vpBasicFeature::nbParameters, and vpBasicFeature::s.
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inlineinherited |
Return the dimension of the feature vector .
Definition at line 109 of file vpBasicFeature.h.
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virtual |
Display line feature.
cam | : Camera parameters. |
I | : Image on which features have to be displayed. |
color | : Color used to display the feature. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 458 of file vpFeatureLine.cpp.
References vpFeatureDisplay::displayLine(), getRho(), getTheta(), and vpERROR_TRACE.
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virtual |
Display line feature.
cam | : Camera parameters. |
I | : Color image on which features have to be displayed. |
color | : Color used to display the feature. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 484 of file vpFeatureLine.cpp.
References vpFeatureDisplay::displayLine(), getRho(), getTheta(), and vpERROR_TRACE.
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virtual |
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 442 of file vpFeatureLine.cpp.
References vpFeatureLine().
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Compute the error between the current and the desired visual features from a subset of the possible features.
s_star | : Desired visual feature. |
select | : The error can be computed for a selection of a subset of the possible line features.
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The code below shows how to use this method to manipulate the subset:
Reimplemented from vpBasicFeature.
Definition at line 307 of file vpFeatureLine.cpp.
References vpBasicFeature::s, selectRho(), selectTheta(), and vpColVector::stack().
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inherited |
Get the feature vector .
Definition at line 112 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
Referenced by vpServo::computeError(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), and vpGenericFeature::error().
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inlineinherited |
Definition at line 122 of file vpBasicFeature.h.
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Get the feature vector dimension.
Definition at line 99 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
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inline |
Return the subset value of the visual feature .
Definition at line 225 of file vpFeatureLine.h.
Referenced by vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpFeatureBuilder::create(), and display().
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inline |
Return the subset value of the visual feature .
Definition at line 230 of file vpFeatureLine.h.
Referenced by vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpFeatureBuilder::create(), and display().
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virtual |
Initialize the memory space requested for 2D line visual feature.
Implements vpBasicFeature.
Definition at line 73 of file vpFeatureLine.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureLine().
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virtual |
Compute and return the interaction matrix . The computation is made thanks to the values of the line feature and and the equation of a plan to which the line belongs.
Where :
select | : Selection of a subset of the possible line features.
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The code below shows how to compute the interaction matrix associated to the visual feature .
The code below shows how to compute the interaction matrix associated to the visual feature .
Implements vpBasicFeature.
Definition at line 187 of file vpFeatureLine.cpp.
References vpFeatureException::badInitializationError, vpBasicFeature::deallocate, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpBasicFeature::s, selectRho(), selectTheta(), vpBasicFeature::user, vpERROR_TRACE, and vpTRACE.
Referenced by vpMbtDistanceLine::computeInteractionMatrixError(), and vpMbtDistanceCylinder::computeInteractionMatrixError().
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 129 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 line features.
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Implements vpBasicFeature.
Definition at line 358 of file vpFeatureLine.cpp.
References vpBasicFeature::s, selectRho(), and selectTheta().
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protectedinherited |
Definition at line 129 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), and vpFeatureTranslation::interaction().
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inlinestaticinherited |
Select all the features.
Definition at line 141 of file vpBasicFeature.h.
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Function used to select the subset of the line visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to .
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 518 of file vpFeatureLine.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the subset of the line visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to .
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 539 of file vpFeatureLine.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
void vpFeatureLine::setABCD | ( | double | A_, |
double | B_, | ||
double | C_, | ||
double | D_ | ||
) |
Sets the values of A, B, C and D which represent the parameters used to describe the equation of a plan in the camera frame.
Those parameters are needed to compute the interaction matrix associated to a visual feature. Normally, two plans are needed to describe a line (the intersection of those two plans). But to compute the interaction matrix only one plan equation is required. The only one restrictions is that the value of D must not be equal to zero !
A_ | : A value to set. |
B_ | : B value to set. |
C_ | : C value to set. |
D_ | : D value to set. |
Definition at line 126 of file vpFeatureLine.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureBuilder::create().
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inlineinherited |
Definition at line 136 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
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Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.
Definition at line 139 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
void vpFeatureLine::setRhoTheta | ( | double | rho, |
double | theta | ||
) |
Sets the values of and which represent the parameters of the 2D line feature.
rho | : value to set. |
theta | : value to set. |
Definition at line 104 of file vpFeatureLine.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
Referenced by vpFeatureBuilder::create().
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protectedinherited |
Definition at line 147 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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Dimension of the visual feature.
Definition at line 93 of file vpBasicFeature.h.
Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().
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Definition at line 79 of file vpBasicFeature.h.
Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureMoment::print(), vpGenericFeature::print(), vpFeatureEllipse::select_n02(), vpFeatureEllipse::select_n11(), vpFeatureEllipse::select_n20(), vpFeatureSegment::selectAlpha(), vpFeatureVanishingPoint::selectAlpha(), vpFeatureVanishingPoint::selectAtanOneOverRho(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureVanishingPoint::selectOneOverRho(), selectRho(), vpFeaturePointPolar::selectRho(), selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().
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Ensure that all the parameters needed to compute the iteraction matrix are set.
Definition at line 97 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::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(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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Number of parameters needed to compute the interaction matrix.
Definition at line 99 of file vpBasicFeature.h.
Referenced by vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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State of the visual feature.
Definition at line 91 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpFeatureLuminance::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(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint3D::get_Z(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), print(), vpFeatureMoment::print(), vpFeatureSegment::print(), vpFeatureThetaU::print(), vpFeatureTranslation::print(), vpGenericFeature::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(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint3D::set_Z(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().