Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/visual_features/vpFeatureMoment.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Public Member Functions | |
vpFeatureMoment (vpMomentDatabase &data_base, double A_=0.0, double B_=0.0, double C_=0.0, vpFeatureMomentDatabase *featureMoments=NULL, unsigned int nbmatrices=1) | |
virtual | ~vpFeatureMoment () |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Member Functions | |
const vpMoment & | getMoment () const |
Protected Attributes | |
const vpMoment * | moment |
vpMomentDatabase & | moments |
vpFeatureMomentDatabase * | featureMomentsDataBase |
std::vector< vpMatrix > | interaction_matrices |
double | A |
double | B |
double | C |
char | _name [255] |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
Inherited functionalities from vpBasicFeature | |
vpBasicFeatureDeallocatorType | deallocate |
void | resetFlags () |
unsigned int | dimension_s () |
virtual vpColVector | error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) |
vpColVector | get_s (unsigned int select=FEATURE_ALL) const |
vpBasicFeatureDeallocatorType | getDeallocate () |
virtual double | operator[] (unsigned int i) const |
void | setDeallocate (vpBasicFeatureDeallocatorType d) |
void | setFlags () |
static unsigned int | selectAll () |
Inherited functionalities from vpFeatureMoment | |
virtual void | compute_interaction (void) |
vpBasicFeature * | duplicate () const |
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 |
int | getDimension (unsigned int select=FEATURE_ALL) const |
void | init (void) |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) |
void | linkTo (vpFeatureMomentDatabase &featureMoments) |
virtual const char * | momentName () const =0 |
virtual const char * | name () const =0 |
void | print (unsigned int select=FEATURE_ALL) const |
virtual void | printDependencies (std::ostream &os) const |
void | update (double A, double B, double C) |
VISP_EXPORT std::ostream & | operator<< (std::ostream &os, const vpFeatureMoment &featM) |
This class defines shared system methods/attributes for 2D moment features but no functional code. It is used to compute interaction matrices for moment features.
While vpMoment-type classes do only compute moment values and can by used for almost anything, vpFeatureMoment-type classes are specifically designed for visual servoing. More importantly, a vpFeatureMoment is used to compute the interaction matrix associated to it's moment primitive.
This class is virtual and cannot be used directly. It defines the following characteristics common to all moment features:
Like vpMoment, vpFeatureMoment provides a vpFeatureMoment::update() method. But unlike vpMoment::update() which only acknowledges the new object, the vpFeatureMoment::update() acknowledges the new plane parameters AND computes the interaction matrices associated with the feature.
A vpFeatureMoment will be often part of a vpFeatureMomentDatabase in the same way a vpMoment is part of a vpMomentDatabase. This database is specified inside the vpFeatureMoment::vpFeatureMoment() constructor. As a result, a vpFeatureMoment will be able to access other vpFeatureMoments through this database.
A vpBasicFeature can be duplicated into a vpMomentGenericFeature. In that case, all data in the vpBasicFeature is copied but the feature's name is lost. For example if a vpFeatureMomentCInvariant is duplicated, the duplicata will be operational but could not be used in a vpFeatureMomentDatabase.
Note that you can use vpFeatureMoment to do visual servoing but it is not it's only purpose. You may compute your interaction matrices with vpFeatureMoment::update() and use them for any purpose.
Here is an example of how to use a vpFeatureMoment (in this case vpFeatureMomentBasic).
Definition at line 159 of file vpFeatureMoment.h.
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Enumerator | |
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FEATURE_ALL |
Definition at line 81 of file vpBasicFeature.h.
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Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 87 of file vpBasicFeature.h.
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Initializes the feature with information about the database of moment primitives, the object plane, feature database and matrix size.
data_base | : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix. |
A_ | : Plane coefficient in a plane. |
B_ | : Plane coefficient in a plane. |
C_ | : Plane coefficient in a plane. |
featureMoments | : Feature database |
nbmatrices | : If you want to create a new vpFeatureMoment implementation, your feature will often have a matrix size of n lines. You can specify the number of lines by this parameter. |
Definition at line 204 of file vpFeatureMoment.h.
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Definition at line 258 of file vpFeatureMoment.cpp.
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Reimplemented in vpFeatureMomentGravityCenterNormalized, vpFeatureMomentGravityCenter, vpFeatureMomentCInvariant, vpFeatureMomentCentered, vpFeatureMomentBasic, vpFeatureMomentAreaNormalized, vpFeatureMomentArea, and vpFeatureMomentAlpha.
Definition at line 256 of file vpFeatureMoment.cpp.
Referenced by update().
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Return the dimension of the feature vector .
Definition at line 109 of file vpBasicFeature.h.
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Not implemented since visual representation of a moment doesn't often make sense.
Implements vpBasicFeature.
Definition at line 114 of file vpFeatureMoment.cpp.
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Not implemented since visual representation of a moment doesn't often make sense.
Implements vpBasicFeature.
Definition at line 128 of file vpFeatureMoment.cpp.
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Duplicates the feature into a vpGenericFeature harbouring the same properties. The resulting feature is of vpMomentGenericFeature type. While it still can compute interaction matrices and has acces to it's moment primitive, it has lost all precise information about its precise type and therefore cannot be used in a feature database.
Implements vpBasicFeature.
Definition at line 220 of file vpFeatureMoment.cpp.
References A, B, C, vpBasicFeature::dim_s, featureMomentsDataBase, vpBasicFeature::flags, interaction_matrices, moment, moments, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
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virtualinherited |
Compute the error between two visual features from a subset of the possible features.
Reimplemented in vpGenericFeature, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMomentAlpha, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureVanishingPoint.
Definition at line 149 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::get_s(), and vpBasicFeature::s.
Referenced by vpServo::computeError().
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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.
int vpFeatureMoment::getDimension | ( | unsigned int | select = FEATURE_ALL | ) | const |
Feature's dimension according to selection.
Definition at line 85 of file vpFeatureMoment.cpp.
References vpBasicFeature::dim_s, and vpBasicFeature::FEATURE_LINE.
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Definition at line 163 of file vpFeatureMoment.h.
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Initialize common parameters for moment features.
Implements vpBasicFeature.
Definition at line 56 of file vpFeatureMoment.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), moment, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
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Retrieves the interaction matrix. No computation is done.
select | : Feature selector. |
There is no rule about the format of the feature selector. It may be different for different features. For example, for vpFeatureMomentBasic or vpFeatureMomentCentered features, select may refer to the couple in the format, but for vpFeatureMomentCInvariant the selector allows to select couples in the following format: 1 << i
Implements vpBasicFeature.
Definition at line 199 of file vpFeatureMoment.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and interaction_matrices.
Referenced by vpFeatureMomentCentered::compute_interaction().
void vpFeatureMoment::linkTo | ( | vpFeatureMomentDatabase & | featureMoments | ) |
Links the feature to the feature's database. NB: The feature's database is different from the moment's database.
featureMoments | : database in which the moment features are stored. |
Definition at line 244 of file vpFeatureMoment.cpp.
References _name, featureMomentsDataBase, vpException::memoryAllocationError, and name().
Referenced by vpFeatureMomentCommon::vpFeatureMomentCommon().
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Name of the moment corresponding to the feature. This allows to locate the moment associated with the feature in the provided database.
Implemented in vpFeatureMomentGravityCenterNormalized, vpFeatureMomentGravityCenter, vpFeatureMomentCInvariant, vpFeatureMomentCentered, vpFeatureMomentBasic, vpFeatureMomentAreaNormalized, vpFeatureMomentArea, vpFeatureMomentAlpha, and vpMomentGenericFeature.
Referenced by update().
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pure virtual |
Name of the feature used to locate it in the database of features.
Implemented in vpFeatureMomentGravityCenterNormalized, vpFeatureMomentGravityCenter, vpFeatureMomentCInvariant, vpFeatureMomentCentered, vpFeatureMomentBasic, vpFeatureMomentAreaNormalized, vpFeatureMomentArea, vpFeatureMomentAlpha, and vpMomentGenericFeature.
Referenced by linkTo().
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Return element i in the state vector (usage : x = s[i] )
Definition at line 129 of file vpBasicFeature.h.
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Outputs the content of the feature: it's corresponding selected moments.
Implements vpBasicFeature.
Definition at line 99 of file vpFeatureMoment.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and vpBasicFeature::s.
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Interface function to display the moments and other interaction matrices on which a particular vpFeatureMoment is dependent upon Not made pure to maintain compatibility Recommended : Types inheriting from vpFeatureMoment should implement this function
Definition at line 281 of file vpFeatureMoment.cpp.
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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(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), and vpFeatureTranslation::interaction().
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Select all the features.
Definition at line 141 of file vpBasicFeature.h.
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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 vpFeatureMoment::update | ( | double | A_, |
double | B_, | ||
double | C_ | ||
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Updates the interaction matrices with the image plane the camera is facing. The plane must be in the format: . The moment primitives MUST be updated before calling this function.
This method also computes the interaction matrix. Therefore, you must call vpFeatureMoment::update before calling vpFeatureMoment::interaction.
A_ | : A coefficient of the plane. |
B_ | : B coefficient of the plane. |
C_ | : C coefficient of the plane. |
Definition at line 153 of file vpFeatureMoment.cpp.
References A, B, C, compute_interaction(), vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), vpMomentDatabase::get(), moment, momentName(), moments, vpBasicFeature::nbParameters, vpException::notInitialized, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureMomentCommon::updateAll().
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Definition at line 260 of file vpFeatureMoment.cpp.
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Definition at line 171 of file vpFeatureMoment.h.
Referenced by linkTo().
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Definition at line 168 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), and update().
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Definition at line 169 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), and update().
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Definition at line 170 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), and update().
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Definition at line 147 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::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 duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), init(), interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), 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(), getDimension(), interaction(), vpGenericFeature::interaction(), 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(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::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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Definition at line 165 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), duplicate(), and linkTo().
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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(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::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(), vpFeatureLine::setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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Definition at line 166 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), interaction(), vpFeatureMomentBasic::interaction(), and vpFeatureMomentCentered::interaction().
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Definition at line 162 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), init(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), and update().
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Definition at line 164 of file vpFeatureMoment.h.
Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), and update().
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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(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::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(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), 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(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureEllipse::display(), duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::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(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureLuminance::init(), init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureLine::print(), 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(), vpFeatureLine::setRhoTheta(), update(), and vpGenericFeature::vpGenericFeature().