Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
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vpFeatureMomentCInvariant Class Reference
visual_features: Visual features module » Visual features

#include <visp3/visual_features/vpFeatureMomentCInvariant.h>

+ Inheritance diagram for vpFeatureMomentCInvariant:

Public Types

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

Public Member Functions

 vpFeatureMomentCInvariant (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
 
void printLsofInvariants (std::ostream &os) const
 
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 Member Functions

static unsigned int selectC1 ()
 
static unsigned int selectC2 ()
 
static unsigned int selectC3 ()
 
static unsigned int selectC4 ()
 
static unsigned int selectC5 ()
 
static unsigned int selectC6 ()
 
static unsigned int selectC7 ()
 
static unsigned int selectC8 ()
 
static unsigned int selectC9 ()
 
static unsigned int selectC10 ()
 
static unsigned int selectSx ()
 
static unsigned int selectSy ()
 
static unsigned int selectPx ()
 
static unsigned int selectPy ()
 

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
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpFeatureMomentCInvariant &featcinv)
 

Related Functions

(Note that these are not member functions.)

std::ostream & operator<< (std::ostream &os, const vpFeatureMomentCInvariant &featcinv)
 

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 ()
 
static unsigned int selectAll ()
 
vpBasicFeatureDeallocatorType deallocate
 
void resetFlags ()
 

Detailed Description

Functionality computation for 2D rotation/translation/scale non-symmetric invariant moment feature. Computes the interaction matrix associated with vpMomentCInvariant.

The interaction matrix for the moment feature can be deduced from [48], equations (9). To do so, one must derive them and obtain a combination of interaction matrices by using (1). It allows to compute the interaction matrix for $ c_i, i \in [1..10] $.

These interaction matrices may be selected afterwards by calling vpFeatureMomentCInvariant::interaction(). The selection by the vpFeatureMomentCInvariant::selectCi method for $ L_{c_i} $. For example, to select $ L_{c_1} $ you should input vpFeatureMomentCInvariant::selectC1() into ViSP's selector. Special matrices for features $ S_x $ and $ S_y $ are selected by vpFeatureMomentCInvariant::selectSx() and vpFeatureMomentCInvariant::selectSy() respectively. Special matrices for features $ P_x $ and $ P_y $ are selected by vpFeatureMomentCInvariant::selectPx() and vpFeatureMomentCInvariant::selectPy() respectively.

These features are often used in moment-based visual servoing to control the two out-of-plane rotations.

Be careful about the nature of your object when selecting the right features. Use $ L_{S_{x}} $ and $ L_{S_{y}} $ when you're dealing with a symmetric object all other features otherwise.

Minimum vpMomentObject order needed to compute this feature: 6. This is the highest order required by classic features.

This feature depends on:

An example of how to use vpFeatureMomentCInvariant in a complete visual servoing example is given in vpFeatureMomentCommon.

Definition at line 235 of file vpFeatureMomentCInvariant.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

◆ vpFeatureMomentCInvariant()

vpFeatureMomentCInvariant::vpFeatureMomentCInvariant ( 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 251 of file vpFeatureMomentCInvariant.h.

Member Function Documentation

◆ compute_interaction()

BEGIN_VISP_NAMESPACE void vpFeatureMomentCInvariant::compute_interaction ( void  )
virtual

Computes interaction matrix for space-scale-rotation invariants. Called internally. The moment primitives must be computed before calling this. This feature depends on:

Reimplemented from vpFeatureMoment.

Definition at line 432 of file vpFeatureMomentCInvariant.cpp.

References vpMomentObject::DISCRETE, vpFeatureMoment::featureMomentsDataBase, vpMomentObject::get(), vpFeatureMomentDatabase::get(), vpMomentDatabase::get(), vpMomentCentered::get(), vpMomentCInvariant::getC(), vpMomentCInvariant::getI(), vpMomentCInvariant::getII(), vpMoment::getObject(), vpMomentCInvariant::getS(), vpMomentObject::getType(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), 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 $ (i,j,k,l...) $ 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 vpFeatureMomentCInvariant::momentName ( ) const
inlinevirtual

Associated moment name.

Implements vpFeatureMoment.

Definition at line 260 of file vpFeatureMomentCInvariant.h.

◆ name()

const std::string vpFeatureMomentCInvariant::name ( ) const
inlinevirtual

Feature name.

Implements vpFeatureMoment.

Definition at line 267 of file vpFeatureMomentCInvariant.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.

◆ printLsofInvariants()

void vpFeatureMomentCInvariant::printLsofInvariants ( std::ostream &  os) const

Print all the interaction matrices of the moment invariants

Print out all invariants that were computed There are 15 of them, as in [Point-based and region based.ITRO05] [48]

Definition at line 679 of file vpFeatureMomentCInvariant.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.

◆ selectC1()

static unsigned int vpFeatureMomentCInvariant::selectC1 ( )
inlinestatic

Shortcut selector for $C_1$.

Definition at line 275 of file vpFeatureMomentCInvariant.h.

◆ selectC10()

static unsigned int vpFeatureMomentCInvariant::selectC10 ( )
inlinestatic

Shortcut selector for $C_{10}$.

Definition at line 311 of file vpFeatureMomentCInvariant.h.

◆ selectC2()

static unsigned int vpFeatureMomentCInvariant::selectC2 ( )
inlinestatic

Shortcut selector for $C_2$.

Definition at line 279 of file vpFeatureMomentCInvariant.h.

◆ selectC3()

static unsigned int vpFeatureMomentCInvariant::selectC3 ( )
inlinestatic

Shortcut selector for $C_3$.

Definition at line 283 of file vpFeatureMomentCInvariant.h.

◆ selectC4()

static unsigned int vpFeatureMomentCInvariant::selectC4 ( )
inlinestatic

Shortcut selector for $C_4$.

Examples
manServoMomentsSimple.cpp.

Definition at line 287 of file vpFeatureMomentCInvariant.h.

◆ selectC5()

static unsigned int vpFeatureMomentCInvariant::selectC5 ( )
inlinestatic

Shortcut selector for $C_5$.

Definition at line 291 of file vpFeatureMomentCInvariant.h.

◆ selectC6()

static unsigned int vpFeatureMomentCInvariant::selectC6 ( )
inlinestatic

Shortcut selector for $C_6$.

Examples
manServoMomentsSimple.cpp.

Definition at line 295 of file vpFeatureMomentCInvariant.h.

◆ selectC7()

static unsigned int vpFeatureMomentCInvariant::selectC7 ( )
inlinestatic

Shortcut selector for $C_7$.

Definition at line 299 of file vpFeatureMomentCInvariant.h.

◆ selectC8()

static unsigned int vpFeatureMomentCInvariant::selectC8 ( )
inlinestatic

Shortcut selector for $C_8$.

Definition at line 303 of file vpFeatureMomentCInvariant.h.

◆ selectC9()

static unsigned int vpFeatureMomentCInvariant::selectC9 ( )
inlinestatic

Shortcut selector for $C_9$.

Definition at line 307 of file vpFeatureMomentCInvariant.h.

◆ selectPx()

static unsigned int vpFeatureMomentCInvariant::selectPx ( )
inlinestatic

Shortcut selector for $P_x$.

Definition at line 323 of file vpFeatureMomentCInvariant.h.

◆ selectPy()

static unsigned int vpFeatureMomentCInvariant::selectPy ( )
inlinestatic

Shortcut selector for $P_y$.

Definition at line 327 of file vpFeatureMomentCInvariant.h.

◆ selectSx()

static unsigned int vpFeatureMomentCInvariant::selectSx ( )
inlinestatic

Shortcut selector for $S_x$.

Definition at line 315 of file vpFeatureMomentCInvariant.h.

◆ selectSy()

static unsigned int vpFeatureMomentCInvariant::selectSy ( )
inlinestatic

Shortcut selector for $S_y$.

Definition at line 319 of file vpFeatureMomentCInvariant.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().

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream & operator<< ( std::ostream &  os,
const vpFeatureMomentCInvariant &  featcinv 
)
friend

Print all the interaction matrices of visual features

Definition at line 692 of file vpFeatureMomentCInvariant.cpp.

◆ operator<<() [2/2]

std::ostream & operator<< ( std::ostream &  os,
const vpFeatureMomentCInvariant &  featcinv 
)
related

Print all the interaction matrices of visual features

Definition at line 692 of file vpFeatureMomentCInvariant.cpp.

Member Data Documentation

◆ A

double vpFeatureMoment::A
protectedinherited

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(), 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(), vpFeatureMomentAreaNormalized::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(), vpFeatureMomentAreaNormalized::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.

Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpFeatureLuminanceMapping::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::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(), vpBasicFeature::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
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(), 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.

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().

◆ 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(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), 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(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), 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(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), 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.

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(), 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(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureLuminanceMapping::interaction(), vpBasicFeature::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().