Visual Servoing Platform
version 3.6.1 under development (2024-11-21)
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#include <visp3/visual_features/vpFeatureMoment.h>
Public Types | |
enum | vpBasicFeatureSelect { 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=nullptr, unsigned int nbmatrices=1) | |
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 |
std::string | m_name |
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 VP_OVERRIDE |
void | display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const VP_OVERRIDE |
void | display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const VP_OVERRIDE |
int | getDimension (unsigned int select=FEATURE_ALL) const |
void | init (void) VP_OVERRIDE |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) VP_OVERRIDE |
void | linkTo (vpFeatureMomentDatabase &featureMoments) |
virtual const std::string | momentName () const =0 |
virtual const std::string | name () const =0 |
void | print (unsigned int select=FEATURE_ALL) const VP_OVERRIDE |
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 duplicate 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 161 of file vpFeatureMoment.h.
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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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Enumerator | |
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FEATURE_ALL |
Definition at line 83 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 206 of file vpFeatureMoment.h.
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Reimplemented in vpFeatureMomentGravityCenterNormalized, vpFeatureMomentGravityCenter, vpFeatureMomentCInvariant, vpFeatureMomentCentered, vpFeatureMomentBasic, vpFeatureMomentAreaNormalized, vpFeatureMomentArea, and vpFeatureMomentAlpha.
Definition at line 249 of file vpFeatureMoment.cpp.
Referenced by update().
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Return the dimension of the feature vector .
Definition at line 110 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 110 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 123 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 access 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 217 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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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.
Definition at line 152 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 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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Definition at line 123 of file vpBasicFeature.h.
int vpFeatureMoment::getDimension | ( | unsigned int | select = FEATURE_ALL | ) | const |
Feature's dimension according to selection.
Definition at line 81 of file vpFeatureMoment.cpp.
References vpBasicFeature::dim_s, and vpBasicFeature::FEATURE_LINE.
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Definition at line 165 of file vpFeatureMoment.h.
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Initialize common parameters for moment features.
Implements vpBasicFeature.
Definition at line 52 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 195 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.
featureMoments | : database in which the moment features are stored. |
Definition at line 241 of file vpFeatureMoment.cpp.
References featureMomentsDataBase, m_name, 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 130 of file vpBasicFeature.h.
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Outputs the content of the feature: it's corresponding selected moments.
Implements vpBasicFeature.
Definition at line 95 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 258 of file vpFeatureMoment.cpp.
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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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Definition at line 137 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 142 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 148 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 266 of file vpFeatureMoment.cpp.
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Definition at line 170 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 171 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 172 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 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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Dimension of the visual feature.
Definition at line 94 of file vpBasicFeature.h.
Referenced by duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpFeatureLuminanceMapping::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), 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(), init(), vpFeatureLuminanceMapping::interaction(), interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().
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Definition at line 81 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(), 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 167 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 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(), 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 168 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 173 of file vpFeatureMoment.h.
Referenced by linkTo().
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Definition at line 164 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 166 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 100 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint3D::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 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(), 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(), vpFeatureLuminanceMapping::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(), vpFeatureLuminanceMapping::init(), vpFeatureLuminance::init(), init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureLuminanceMapping::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureEllipse::print(), vpFeatureLine::print(), vpFeatureLuminanceMapping::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().