#include <visp3/visual_features/vpFeatureMomentAreaNormalized.h>

Inheritance diagram for vpFeatureMomentAreaNormalized:

Public Types
enum	vpBasicFeatureSelect { FEATURE_ALL = 0xffff }

enum	vpBasicFeatureDeallocatorType { user , vpServo }

Public Member Functions
	vpFeatureMomentAreaNormalized (vpMomentDatabase &data_base, double A_, double B_, double C_, vpFeatureMomentDatabase *featureMoments=nullptr)

void	compute_interaction () VP_OVERRIDE

const std::string	momentName () const VP_OVERRIDE

const std::string	name () const VP_OVERRIDE

Inherited functionalities from vpFeatureMoment
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)

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)

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
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 ()

vpBasicFeatureDeallocatorType	deallocate

void	resetFlags ()

static unsigned int	selectAll ()

Detailed Description

Functionality computation for normalized surface moment feature. Computes the interaction matrix associated with vpMomentAreaNormalized.

The interaction matrix for the moment has the following form:

In the discrete case:
$L_{a_n} = { \left[ \begin {array}{c} a_{{n}}Ae_{{2,0}}+a_{{n}}Be_{{1,1}} \\ \noalign{\medskip}a_{{n}}Ae_{{1,1}}+a_{{n}}Be_{{0,2}} \\ \noalign{\medskip}-a_{{n}}C+Bw_{{x}}-Aw_{{y}} \\ \noalign{\medskip}- \left( e_{{2,0}}+2\,e_{{0,2}} \right) y_{{g}}-e_{{2,1}}-x_{{g}}e_{{1,1}}+\eta_{{1,1}}e_{{1,0}}-e_{{0,3}}+\eta_{{0,2}}e_{{0,1}} \\ \noalign{\medskip} \left( 2\,e_{{2,0}}+e_{{0,2}} \right) x_{{g}}+e_{{3,0}}+y_{{g}}e_{{1,1}}-\eta_{{2,0}}e_{{1,0}}+e_{{1,2}}-\eta_{{1,1}}e_{{0,1}} \\ \noalign{\medskip}0 \end {array} \right] }^t$
In the dense case:
$L_{a_n} = { \left[ \begin {array}{c} 1/2\,a_{{n}}A \\ \noalign{\medskip}1/2\,a_{{n}}B \\ \noalign{\medskip}-a_{{n}}C-3/2\,Ax_{{n}}-3/2\,By_{{n}} \\ \noalign{\medskip}-3/2\,y_{{n}} \\ \noalign{\medskip}3/2\,x_{{n}} \\ \noalign{\medskip}0 \end {array} \right] }^t$
with:
- $e_{i,j}=\frac{\mu_{i,j}}{NA}$
- $NA=\mu_{2,0}+\mu_{0,2}$
- $\eta$ is the centered and normalized moment. To do so, one must derive it and obtain a combination of interaction matrices by using (1). It allows to compute the interaction matrix for .

The interaction matrix computed is single-dimension (no selection possible) and can be obtained by calling vpFeatureMomentGravityCenterNormalized::interaction.

This feature is often used in moment-based visual servoing to control the depth parameter.

Minimum vpMomentObject order needed to compute this feature: 1 in dense mode and 3 in discrete mode.

This feature depends on:

Examples: mbot-apriltag-ibvs.cpp, and servoBebop2.cpp.

Definition at line 184 of file vpFeatureMomentAreaNormalized.h.

Member Enumeration Documentation

◆ vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType

inherited

Indicates who should deallocate the feature.

Enumerator
user
vpServo

Definition at line 88 of file vpBasicFeature.h.

◆ vpBasicFeatureSelect

enum vpBasicFeature::vpBasicFeatureSelect

inherited

Enumerator
FEATURE_ALL

Definition at line 83 of file vpBasicFeature.h.

Constructor & Destructor Documentation

◆ vpFeatureMomentAreaNormalized()

vpFeatureMomentAreaNormalized::vpFeatureMomentAreaNormalized	(	vpMomentDatabase &	data_base,
		double	A_,
		double	B_,
		double	C_,
		vpFeatureMomentDatabase *	featureMoments = `nullptr`
	)

inline

Initializes the feature with information about the database of moment primitives, the object plane and feature database.

Parameters

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 $A \times x+B \times y + C = \frac{1}{Z}$ plane.
B_	: Plane coefficient in a $A \times x+B \times y + C = \frac{1}{Z}$ plane.
C_	: Plane coefficient in a $A \times x+B \times y + C = \frac{1}{Z}$ plane.
featureMoments	: Feature database.

Definition at line 197 of file vpFeatureMomentAreaNormalized.h.

Member Function Documentation

◆ compute_interaction()

BEGIN_VISP_NAMESPACE void vpFeatureMomentAreaNormalized::compute_interaction ( void )

virtual

Computes interaction matrix for the normalized surface moment. Called internally. The moment primitives must be computed before calling this. This feature depends on:

Reimplemented from vpFeatureMoment.

Examples: mbot-apriltag-ibvs.cpp.

Definition at line 121 of file vpFeatureMomentAreaNormalized.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpMomentObject::DISCRETE, vpMoment::get(), vpMomentObject::get(), vpMomentDatabase::get(), vpMomentCentered::get(), vpMoment::getObject(), vpMomentObject::getType(), vpMomentGravityCenter::getXg(), vpMomentGravityCenter::getYg(), vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, vpFeatureMoment::moments, and vpException::notInitialized.

◆ dimension_s()

unsigned int vpBasicFeature::dimension_s ( )

inlineinherited

Return the dimension of the feature vector $\bf s$ .

Definition at line 110 of file vpBasicFeature.h.

◆ display() [1/2]

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

virtualinherited

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 110 of file vpFeatureMoment.cpp.

◆ display() [2/2]

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

virtualinherited

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 123 of file vpFeatureMoment.cpp.

◆ duplicate()

vpBasicFeature * vpFeatureMoment::duplicate ( ) const

virtualinherited

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.

Returns: The corresponding feature.

Implements vpBasicFeature.

Definition at line 217 of file vpFeatureMoment.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpBasicFeature::dim_s, vpFeatureMoment::featureMomentsDataBase, vpBasicFeature::flags, vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, vpFeatureMoment::moments, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

◆ error()

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

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, vpFeatureLuminanceMapping, vpFeatureLuminance, vpFeatureLine, vpFeatureEllipse, vpFeatureDepth, and vpFeatureVanishingPoint.

Examples: manServoMomentsSimple.cpp.

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().

◆ get_s()

vpColVector vpBasicFeature::get_s ( unsigned int select = FEATURE_ALL ) const

inherited

Get the feature vector $\bf s$ .

Examples: servoAfma6Ellipse2DCamVelocity.cpp.

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().

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )

inlineinherited

Definition at line 123 of file vpBasicFeature.h.

◆ getDimension()

int vpFeatureMoment::getDimension ( unsigned int select = FEATURE_ALL ) const

inherited

Feature's dimension according to selection.

Definition at line 81 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, and vpBasicFeature::FEATURE_LINE.

◆ getMoment()

const vpMoment& vpFeatureMoment::getMoment ( ) const

inlineprotectedinherited

Definition at line 165 of file vpFeatureMoment.h.

◆ init()

void vpFeatureMoment::init ( void )

virtualinherited

Initialize common parameters for moment features.

Implements vpBasicFeature.

Definition at line 52 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), vpFeatureMoment::moment, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

◆ interaction()

vpMatrix vpFeatureMoment::interaction ( unsigned int select = FEATURE_ALL )

virtualinherited

Retrieves the interaction matrix. No computation is done.

Parameters

select : Feature selector.

Returns: The corresponding interaction matrix.

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 $ (i,j) $ couple in the $j \times order + i$ format, but for vpFeatureMomentCInvariant the selector allows to select couples in the following format: 1 << i

1 << j + 1 << k + 1 << l.

Implements vpBasicFeature.

Definition at line 195 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and vpFeatureMoment::interaction_matrices.

Referenced by vpFeatureMomentCentered::compute_interaction().

◆ linkTo()

void vpFeatureMoment::linkTo ( vpFeatureMomentDatabase & featureMoments )

inherited

Links the feature to the feature's database.

Note: The feature's database is different from the moment's database.

Parameters

featureMoments : database in which the moment features are stored.

Definition at line 241 of file vpFeatureMoment.cpp.

References vpFeatureMoment::featureMomentsDataBase, vpFeatureMoment::m_name, and vpFeatureMoment::name().

Referenced by vpFeatureMomentCommon::vpFeatureMomentCommon().

◆ momentName()

const std::string vpFeatureMomentAreaNormalized::momentName ( ) const

inlinevirtual

Associated moment name.

Implements vpFeatureMoment.

Definition at line 207 of file vpFeatureMomentAreaNormalized.h.

◆ name()

const std::string vpFeatureMomentAreaNormalized::name ( ) const

inlinevirtual

Feature name.

Implements vpFeatureMoment.

Definition at line 215 of file vpFeatureMomentAreaNormalized.h.

◆ operator[]()

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

inlinevirtualinherited

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

Definition at line 130 of file vpBasicFeature.h.

◆ print()

void vpFeatureMoment::print ( unsigned int select = FEATURE_ALL ) const

virtualinherited

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.

◆ printDependencies()

void vpFeatureMoment::printDependencies ( std::ostream & os ) const

virtualinherited

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.

◆ resetFlags()

void vpBasicFeature::resetFlags ( )

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().

◆ selectAll()

static unsigned int vpBasicFeature::selectAll ( )

inlinestaticinherited

Select all the features.

Examples: testPoint.cpp.

Definition at line 142 of file vpBasicFeature.h.

◆ setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType d )

inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

◆ setFlags()

void vpBasicFeature::setFlags ( )

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.

◆ update()

void vpFeatureMoment::update	(	double	A_,
		double	B_,
		double	C_
	)

inherited

Updates the interaction matrices with the image plane the camera is facing. The plane must be in the format: $\frac{1}{Z}=Ax+By+C$ . 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.

Attention: The behaviour of this method is not the same as vpMoment::update which only acknowledges the new object. This method also computes the interaction matrices.

Parameters

A_	: A coefficient of the plane.
B_	: B coefficient of the plane.
C_	: C coefficient of the plane.

Examples: mbot-apriltag-ibvs.cpp.

Definition at line 148 of file vpFeatureMoment.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, vpFeatureMoment::compute_interaction(), vpBasicFeature::dim_s, vpBasicFeature::flags, vpMoment::get(), vpMomentDatabase::get(), vpFeatureMoment::moment, vpFeatureMoment::momentName(), vpFeatureMoment::moments, vpBasicFeature::nbParameters, vpException::notInitialized, vpColVector::resize(), and vpBasicFeature::s.

Referenced by vpFeatureMomentCommon::updateAll().

Member Data Documentation

◆ A

double vpFeatureMoment::A

protectedinherited

Definition at line 170 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

◆ B

double vpFeatureMoment::B

protectedinherited

Definition at line 171 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

◆ C

double vpFeatureMoment::C

protectedinherited

Definition at line 172 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

◆ deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate

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=().

◆ dim_s

unsigned int vpBasicFeature::dim_s

protectedinherited

Dimension of the visual feature.

Definition at line 94 of file vpBasicFeature.h.

◆ FEATURE_LINE

BEGIN_VISP_NAMESPACE const unsigned int vpBasicFeature::FEATURE_LINE

staticinherited

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 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().

◆ featureMomentsDataBase

vpFeatureMomentDatabase* vpFeatureMoment::featureMomentsDataBase

protectedinherited

Definition at line 167 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::linkTo().

◆ flags

bool* vpBasicFeature::flags

protectedinherited

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

Definition at line 98 of file vpBasicFeature.h.

◆ interaction_matrices

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices

protectedinherited

Definition at line 168 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), vpFeatureMoment::interaction(), vpFeatureMomentBasic::interaction(), and vpFeatureMomentCentered::interaction().

◆ m_name

std::string vpFeatureMoment::m_name

protectedinherited

Definition at line 173 of file vpFeatureMoment.h.

Referenced by vpFeatureMoment::linkTo().

◆ moment

const vpMoment* vpFeatureMoment::moment

protectedinherited

Definition at line 164 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), vpFeatureMoment::init(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), and vpFeatureMoment::update().

◆ moments

vpMomentDatabase& vpFeatureMoment::moments

protectedinherited

Definition at line 166 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), vpFeatureMoment::duplicate(), and vpFeatureMoment::update().

◆ nbParameters

unsigned int vpBasicFeature::nbParameters

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().

◆ s

vpColVector vpBasicFeature::s

protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Inherited functionalities from vpBasicFeature

Detailed Description

Member Enumeration Documentation

◆ vpBasicFeatureDeallocatorType

◆ vpBasicFeatureSelect

Constructor & Destructor Documentation

◆ vpFeatureMomentAreaNormalized()

Member Function Documentation

◆ compute_interaction()

◆ dimension_s()

◆ display() [1/2]

◆ display() [2/2]

◆ duplicate()

◆ error()

◆ get_s()

◆ getDeallocate()

◆ getDimension()

◆ getMoment()

◆ init()

◆ interaction()

◆ linkTo()

◆ momentName()

◆ name()

◆ operator[]()

◆ print()

◆ printDependencies()

◆ resetFlags()

◆ selectAll()

◆ setDeallocate()

◆ setFlags()

◆ update()

Member Data Documentation

◆ A

◆ B

◆ C

◆ deallocate

◆ dim_s

◆ FEATURE_LINE

◆ featureMomentsDataBase

◆ flags

◆ interaction_matrices

◆ m_name

◆ moment

◆ moments

◆ nbParameters

◆ s