vpBasicFeature Class Reference

#include <visp3/visual_features/vpBasicFeature.h>

Inheritance diagram for vpBasicFeature:

Public Types
enum	vpBasicFeatureSelect { FEATURE_ALL = 0xffff }
enum	vpBasicFeatureDeallocatorType { user , vpServo }

Public Member Functions
	vpBasicFeature ()
	vpBasicFeature (const vpBasicFeature &f)
virtual	~vpBasicFeature ()

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
vpBasicFeatureDeallocatorType	deallocate
unsigned int	dimension_s ()
virtual void	display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual void	display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual void	init ()=0
virtual vpColVector	error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
vpColVector	get_s (unsigned int select=FEATURE_ALL) const
vpBasicFeatureDeallocatorType	getDeallocate ()
unsigned int	getDimension (unsigned int select=FEATURE_ALL) const
virtual vpMatrix	interaction (unsigned int select=FEATURE_ALL)=0
virtual double	operator[] (unsigned int i) const
vpBasicFeature &	operator= (const vpBasicFeature &f)
virtual void	print (unsigned int select=FEATURE_ALL) const =0
virtual vpBasicFeature *	duplicate () const =0
void	setDeallocate (vpBasicFeatureDeallocatorType d)
void	setFlags ()
static unsigned int	selectAll ()
void	resetFlags ()

Detailed Description

class that defines what is a visual feature

Examples

manServoMomentsSimple.cpp.

Definition at line 78 of file vpBasicFeature.h.

Member Enumeration Documentation

vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType

Indicates who should deallocate the feature.

Enumerator
user
vpServo

Definition at line 88 of file vpBasicFeature.h.

vpBasicFeatureSelect

enum vpBasicFeature::vpBasicFeatureSelect

Enumerator
FEATURE_ALL

Definition at line 83 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpBasicFeature() [1/2]

vpBasicFeature::vpBasicFeature

(

)

Default constructor.

Definition at line 61 of file vpBasicFeature.cpp.

vpBasicFeature() [2/2]

vpBasicFeature::vpBasicFeature

(

const vpBasicFeature &

f

)

Copy constructor.

Definition at line 77 of file vpBasicFeature.cpp.

~vpBasicFeature()

vpBasicFeature::~vpBasicFeature ( )

virtual

Destructor that free allocated memory.

Definition at line 66 of file vpBasicFeature.cpp.

References flags.

Member Function Documentation

dimension_s()

unsigned int vpBasicFeature::dimension_s ( )

inline

Return the dimension of the feature vector .

Definition at line 110 of file vpBasicFeature.h.

display() [1/2]

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

pure virtual

Implemented in vpGenericFeature, vpFeatureVanishingPoint, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMoment, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureLuminanceMapping.

display() [2/2]

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

pure virtual

Implemented in vpGenericFeature, vpFeatureVanishingPoint, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMoment, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureLuminanceMapping.

duplicate()

virtual vpBasicFeature* vpBasicFeature::duplicate ( ) const

pure virtual

Implemented in vpGenericFeature, vpFeatureVanishingPoint, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMoment, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, and vpFeatureDepth.

Referenced by vpServo::addFeature().

error()

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

virtual

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

Reimplemented in vpGenericFeature, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMomentAlpha, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureVanishingPoint.

Examples

manServoMomentsSimple.cpp.

Definition at line 152 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, get_s(), and s.

Referenced by vpServo::computeError().

get_s()

vpColVector vpBasicFeature::get_s

(

unsigned int

select = FEATURE_ALL

)

const

Get the feature vector .

Examples

servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 115 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, s, and vpColVector::stack().

Referenced by vpServo::computeError(), error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), and vpGenericFeature::error().

getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inline

Definition at line 123 of file vpBasicFeature.h.

getDimension()

unsigned int vpBasicFeature::getDimension

(

unsigned int

select = FEATURE_ALL

)

const

Get the feature vector dimension.

Examples

testPoint.cpp.

Definition at line 102 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, vpArray2D< Type >::getRows(), and s.

init()

virtual void vpBasicFeature::init ( )

pure virtual

Implemented in vpFeatureMoment, vpGenericFeature, vpFeatureVanishingPoint, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, and vpFeatureDepth.

Examples

manServoMomentsSimple.cpp.

Referenced by vpServo::addFeature().

interaction()

virtual vpMatrix vpBasicFeature::interaction ( unsigned int  select = FEATURE_ALL )

pure virtual

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

Implemented in vpGenericFeature, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMoment, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureVanishingPoint.

operator=()

vpBasicFeature & vpBasicFeature::operator=

(

const vpBasicFeature &

f

)

Copy operator.

Definition at line 86 of file vpBasicFeature.cpp.

References deallocate, dim_s, flags, nbParameters, and s.

operator[]()

virtual double vpBasicFeature::operator[] ( unsigned int  i ) const

inlinevirtual

Return element i in the state vector (usage : x = s[i] )

Definition at line 130 of file vpBasicFeature.h.

print()

virtual void vpBasicFeature::print ( unsigned int  select = FEATURE_ALL ) const

pure virtual

Print the name of the feature.

Implemented in vpGenericFeature, vpFeatureTranslation, vpFeatureThetaU, vpFeatureSegment, vpFeaturePointPolar, vpFeaturePoint3D, vpFeaturePoint, vpFeatureMoment, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureVanishingPoint.

resetFlags()

void vpBasicFeature::resetFlags ( )

protected

Definition at line 132 of file vpBasicFeature.cpp.

References flags, and nbParameters.

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

selectAll()

static unsigned int vpBasicFeature::selectAll ( )

inlinestatic

Select all the features.

Examples

testPoint.cpp.

Definition at line 142 of file vpBasicFeature.h.

setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d )

inline

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

setFlags()

void vpBasicFeature::setFlags

(

)

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

Definition at line 142 of file vpBasicFeature.cpp.

References flags, and nbParameters.

Member Data Documentation

deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

protected

Definition at line 148 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 operator=().

dim_s

unsigned int vpBasicFeature::dim_s

protected

Dimension of the visual feature.

Definition at line 94 of file vpBasicFeature.h.

Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), error(), vpFeatureLuminanceMapping::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), get_s(), vpGenericFeature::get_s(), getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminanceMapping::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureLuminanceMapping::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().

FEATURE_LINE

BEGIN_VISP_NAMESPACE const unsigned int vpBasicFeature::FEATURE_LINE

static

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 81 of file vpBasicFeature.h.

Referenced by error(), vpGenericFeature::error(), get_s(), 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(), 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().

flags

bool* vpBasicFeature::flags

protected

Ensure that all the parameters needed to compute the interaction matrix are set.

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::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(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), operator=(), 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(), setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and ~vpBasicFeature().

nbParameters

unsigned int vpBasicFeature::nbParameters

protected

Number of parameters needed to compute the interaction matrix.

Definition at line 100 of file vpBasicFeature.h.

Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::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(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), operator=(), resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().

s

vpColVector vpBasicFeature::s

protected

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureLuminanceMapping::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpFeatureLuminanceMapping::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), 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(), 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(), vpFeatureLuminanceMapping::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureLuminanceMapping::interaction(), operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureEllipse::print(), vpFeatureLine::print(), vpFeatureLuminanceMapping::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(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().