Visual Servoing Platform
version 3.6.1 under development (2024-12-03)
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#include <visp3/visual_features/vpFeatureLuminanceMapping.h>
Public Types | |
enum | vpBasicFeatureSelect { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Public Member Functions | |
vpFeatureLuminanceMapping (const vpCameraParameters &cam, unsigned int h, unsigned int w, double Z, const std::shared_ptr< vpLuminanceMapping > mapping) | |
vpFeatureLuminanceMapping (const vpFeatureLuminance &luminance, std::shared_ptr< vpLuminanceMapping > mapping) | |
void | init () VP_OVERRIDE |
void | init (const vpCameraParameters &cam, unsigned int h, unsigned int w, double Z, std::shared_ptr< vpLuminanceMapping > mapping) |
void | init (const vpFeatureLuminance &luminance, std::shared_ptr< vpLuminanceMapping > mapping) |
vpFeatureLuminanceMapping (const vpFeatureLuminanceMapping &f) | |
vpFeatureLuminanceMapping & | operator= (const vpFeatureLuminanceMapping &f) |
vpFeatureLuminanceMapping * | duplicate () const VP_OVERRIDE |
virtual | ~vpFeatureLuminanceMapping ()=default |
void | buildFrom (vpImage< unsigned char > &I) |
void | display (const vpCameraParameters &, const vpImage< unsigned char > &, const vpColor &=vpColor::green, unsigned int=1) const VP_OVERRIDE |
void | display (const vpCameraParameters &, const vpImage< vpRGBa > &, const vpColor &=vpColor::green, unsigned int=1) const VP_OVERRIDE |
vpColVector | error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) VP_OVERRIDE |
void | error (const vpBasicFeature &s_star, vpColVector &e) |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) VP_OVERRIDE |
void | interaction (vpMatrix &L) |
void | print (unsigned int select=FEATURE_ALL) const VP_OVERRIDE |
vpFeatureLuminance & | getLuminanceFeature () |
std::shared_ptr< vpLuminanceMapping > & | getMapping () |
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 () |
vpBasicFeatureDeallocatorType | deallocate |
static unsigned int | selectAll () |
void | resetFlags () |
Class to combine luminance features (photometric servoing)
with a mapping that projects an image to a low dimensional representation (see vpLuminanceMapping::map). The interaction matrix of is computed as a function of (see vpLuminanceMapping::interaction)
The mapping is applied to the center crop of the image, where the interaction matrix of the pixels can be computed (see vpFeatureLuminance::getBorder).
Definition at line 387 of file vpFeatureLuminanceMapping.h.
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inherited |
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 88 of file vpBasicFeature.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 83 of file vpBasicFeature.h.
vpFeatureLuminanceMapping::vpFeatureLuminanceMapping | ( | const vpCameraParameters & | cam, |
unsigned int | h, | ||
unsigned int | w, | ||
double | Z, | ||
const std::shared_ptr< vpLuminanceMapping > | mapping | ||
) |
Definition at line 500 of file vpFeatureLuminanceMapping.cpp.
References init().
Referenced by duplicate().
vpFeatureLuminanceMapping::vpFeatureLuminanceMapping | ( | const vpFeatureLuminance & | luminance, |
std::shared_ptr< vpLuminanceMapping > | mapping | ||
) |
Definition at line 506 of file vpFeatureLuminanceMapping.cpp.
References init().
vpFeatureLuminanceMapping::vpFeatureLuminanceMapping | ( | const vpFeatureLuminanceMapping & | f | ) |
Definition at line 510 of file vpFeatureLuminanceMapping.cpp.
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virtualdefault |
void vpFeatureLuminanceMapping::buildFrom | ( | vpImage< unsigned char > & | I | ) |
Definition at line 555 of file vpFeatureLuminanceMapping.cpp.
References vpFeatureLuminance::buildFrom(), vpFeatureLuminance::interaction(), and vpBasicFeature::s.
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inlineinherited |
Return the dimension of the feature vector .
Definition at line 110 of file vpBasicFeature.h.
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inlinevirtual |
Implements vpBasicFeature.
Definition at line 404 of file vpFeatureLuminanceMapping.h.
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inlinevirtual |
Implements vpBasicFeature.
Definition at line 407 of file vpFeatureLuminanceMapping.h.
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virtual |
Implements vpBasicFeature.
Definition at line 550 of file vpFeatureLuminanceMapping.cpp.
References vpFeatureLuminanceMapping().
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virtual |
Compute the error between two visual features from a subset of the possible features.
Reimplemented from vpBasicFeature.
Definition at line 562 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_ALL, and vpException::notImplementedError.
void vpFeatureLuminanceMapping::error | ( | const vpBasicFeature & | s_star, |
vpColVector & | e | ||
) |
Definition at line 572 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpColVector::resize(), and vpBasicFeature::s.
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inherited |
Get the feature vector .
Definition at line 115 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 123 of file vpBasicFeature.h.
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inherited |
Get the feature vector dimension.
Definition at line 102 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
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inline |
Definition at line 419 of file vpFeatureLuminanceMapping.h.
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inline |
Definition at line 420 of file vpFeatureLuminanceMapping.h.
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virtual |
Implements vpBasicFeature.
Definition at line 515 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, and vpFeatureLuminance::init().
Referenced by vpFeatureLuminanceMapping().
void vpFeatureLuminanceMapping::init | ( | const vpCameraParameters & | cam, |
unsigned int | h, | ||
unsigned int | w, | ||
double | Z, | ||
std::shared_ptr< vpLuminanceMapping > | mapping | ||
) |
Definition at line 522 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpFeatureLuminance::getBorder(), vpFeatureLuminance::init(), vpColVector::resize(), vpBasicFeature::s, and vpFeatureLuminance::setCameraParameters().
void vpFeatureLuminanceMapping::init | ( | const vpFeatureLuminance & | luminance, |
std::shared_ptr< vpLuminanceMapping > | mapping | ||
) |
Definition at line 533 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpFeatureLuminance::getBorder(), vpColVector::resize(), and vpBasicFeature::s.
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virtual |
Compute the interaction matrix from a subset of the possible features.
Implements vpBasicFeature.
Definition at line 580 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_ALL, and vpException::notImplementedError.
void vpFeatureLuminanceMapping::interaction | ( | vpMatrix & | L | ) |
Definition at line 589 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, vpFeatureLuminance::interaction(), and vpBasicFeature::s.
vpFeatureLuminanceMapping & vpFeatureLuminanceMapping::operator= | ( | const vpFeatureLuminanceMapping & | f | ) |
Definition at line 542 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::dim_s, and vpBasicFeature::s.
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 130 of file vpBasicFeature.h.
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virtual |
Print the name of the feature.
Implements vpBasicFeature.
Definition at line 596 of file vpFeatureLuminanceMapping.cpp.
References vpBasicFeature::s.
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protectedinherited |
Definition at line 132 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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inlinestaticinherited |
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inlineinherited |
Definition at line 137 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
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inherited |
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 vpBasicFeature::flags, and vpBasicFeature::nbParameters.
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protectedinherited |
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 vpBasicFeature::operator=().
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protectedinherited |
Dimension of the visual feature.
Definition at line 94 of file vpBasicFeature.h.
Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), interaction(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().
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staticinherited |
Definition at line 81 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(), 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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protectedinherited |
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(), 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(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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protectedinherited |
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(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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protectedinherited |
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(), buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::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(), 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(), init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), operator=(), vpFeatureEllipse::print(), vpFeatureLine::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(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().