Visual Servoing Platform  version 3.5.1 under development (2023-03-14)
Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Attributes | List of all members
vpFeaturePoint3D Class Reference
visual_features: Visual features module » Visual features

#include <visp3/visual_features/vpFeaturePoint3D.h>

+ Inheritance diagram for vpFeaturePoint3D:

Public Types

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

Public Member Functions

 vpFeaturePoint3D ()
 
virtual ~vpFeaturePoint3D ()
 
void buildFrom (const vpPoint &p)
 
void buildFrom (double X, double Y, double Z)
 
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
vpFeaturePoint3D * duplicate () const
 
vpColVector error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
 
double get_X () const
 
double get_Y () const
 
double get_Z () const
 
void init ()
 
vpMatrix interaction (unsigned int select=FEATURE_ALL)
 
void print (unsigned int select=FEATURE_ALL) const
 
void set_X (double X)
 
void set_Y (double Y)
 
void set_Z (double Z)
 
void set_XYZ (double X, double Y, double Z)
 

Static Public Member Functions

static unsigned int selectX ()
 
static unsigned int selectY ()
 
static unsigned int selectZ ()
 

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

Detailed Description

Class that defines the 3D point visual feature.

A 3D point visual feature corresponds to a 3D point with $ {\bf X} = (X,Y,Z)$ coordinates in the camera frame.

This class is intended to manipulate the 3D point visual feature $ s = (X,Y,Z) $. The interaction matrix related to $ s $ is given by:

\[ L = \left[ \begin{array}{rrrrrr} -1 & 0 & 0 & 0 & -Z & Y \\ 0 & -1 & 0 & Z & 0 & -X \\ 0 & 0 & -1 & -Y & X & 0 \\ \end{array} \right] \]

Two ways are allowed to initialize the feature.

The interaction() method allows to compute the interaction matrix $ L$ associated to the 3D point visual feature, while the error() method computes the error vector $ (s - s^*)$ between the current visual feature and the desired one.

The code below shows how to create a eye-in hand visual servoing task using a 3D point feature $(X,Y,Z)$ that correspond to the 3D point coordinates in the camera frame. To control six degrees of freedom, at least three other features must be considered like vpFeatureThetaU visual features. First we create a current ( $s$) and desired ( $s^*$) 3D point feature, set the task to use the interaction matrix associated to the desired feature $L_{s^*}$ and than compute the camera velocity $v=-\lambda \; {L_{s^*}}^+ \; (s-s^*)$. The current feature $s$ is updated in the while() loop while $s^*$ is set to $Z^*=1$.

#include <iostream>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/visual_features/vpFeaturePoint3D.h>
#include <visp3/vs/vpServo.h>
int main()
{
vpServo task; // Visual servoing task
// Set the 3D point coordinates in the object frame: oP
vpPoint point(0.1, -0.1, 0);
vpHomogeneousMatrix cMo; // Pose between the camera and the object frame
cMo.buildFrom(0, 0, 1.2, 0, 0, 0);
// ... cMo need here to be computed from a pose estimation
point.changeFrame(cMo); // Compute the 3D point coordinates in the camera frame cP = cMo * oP
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point); // Initialize the feature from the 3D point coordinates in the camera frame: s=(X,Y,Z)
s.print();
// Creation of the desired feature s*.
vpFeaturePoint3D s_star;
s_star.buildFrom(0, 0, 1); // Z*=1 meter
s_star.print();
// Set eye-in-hand control law.
// The computed velocities will be expressed in the camera frame
task.setServo(vpServo::EYEINHAND_CAMERA);
// Interaction matrix is computed with the desired visual features s*
task.setInteractionMatrixType(vpServo::DESIRED);
// Set the constant gain
double lambda = 0.8;
task.setLambda(lambda);
// Add the 3D point feature to the task
task.addFeature(s, s_star);
// Control loop
for ( ; ; ) {
// ... cMo need here to be estimated from for example a pose estimation.
point.changeFrame(cMo); // Compute the 3D point coordinates in the camera frame cP = cMo * oP
// Update the current 3D point visual feature
s.buildFrom(point);
// compute the control law
vpColVector v = task.computeControlLaw(); // camera velocity
}
}
vpBasicFeature::s
vpColVector s
State of the visual feature.
Definition: vpBasicFeature.h:92
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpColVector::print
int print(std::ostream &s, unsigned int length, char const *intro=0) const
Definition: vpColVector.cpp:1350
vpFeaturePoint3D
Class that defines the 3D point visual feature.
Definition: vpFeaturePoint3D.h:210
vpFeaturePoint3D::print
void print(unsigned int select=FEATURE_ALL) const
Definition: vpFeaturePoint3D.cpp:496
vpFeaturePoint3D::buildFrom
void buildFrom(const vpPoint &p)
Definition: vpFeaturePoint3D.cpp:404
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:158
vpHomogeneousMatrix::buildFrom
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition: vpHomogeneousMatrix.cpp:319
vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:564
vpServo::EYEINHAND_CAMERA
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:404
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
vpServo::DESIRED
@ DESIRED
Definition: vpServo.h:186
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487

If you want to deal only with the $(X,Y)$ subset feature from the 3D point feature, you have just to modify the addFeature() call in the previous example by the following line. In that case, the dimension of $s$ is two.

// Add the (X,Y) subset feature from the 3D point visual feature to the task
task.addFeature(s, s_star, vpFeaturePoint3D::selectX() | vpFeaturePoint3D::selectY());
vpFeaturePoint3D::selectX
static unsigned int selectX()
Definition: vpFeaturePoint3D.cpp:584
vpFeaturePoint3D::selectY
static unsigned int selectY()
Definition: vpFeaturePoint3D.cpp:611

If you want to build your own control law, this other example shows how to create a current ( $s$) and desired ( $s^*$) 3D point visual feature, compute the corresponding error vector $(s-s^*)$ and finally build the interaction matrix $L_s$.

#include <iostream>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpFeaturePoint3D.h>
int main()
{
// Set the 3D point coordinates in the object frame: oP
vpPoint point(0.1, -0.1, 0);
vpHomogeneousMatrix cMo; // Pose between the camera and the object frame
cMo.buildFrom(0, 0, 1.2, 0, 0, 0);
// ... cMo need here to be computed from a pose estimation
point.changeFrame(cMo); // Compute the 3D point coordinates in the camera frame cP = cMo * oP
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point); // Initialize the feature from the 3D point coordinates in the camera frame
s.print();
// Creation of the desired feature s*.
vpFeaturePoint3D s_star;
s_star.buildFrom(0, 0, 1); // Z*=1 meter
s_star.print();
// Compute the L_s interaction matrix associated to the current feature
vpMatrix L = s.interaction();
std::cout << "L: " << L << std::endl;
// Compute the error vector (s-s*) for the 3D point feature
vpColVector e = s.error(s_star); // e = (s-s*)
std::cout << "e: " << e << std::endl;
}
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Examples
mbot-apriltag-pbvs.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, and servoSimuPoint3DCamVelocity.cpp.

Definition at line 208 of file vpFeaturePoint3D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 82 of file vpBasicFeature.h.

◆ vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType
inherited

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 88 of file vpBasicFeature.h.

Constructor & Destructor Documentation

◆ vpFeaturePoint3D()

vpFeaturePoint3D::vpFeaturePoint3D ( )

Default constructor that build a 3D point visual feature and initialize it to ${\bf X} = (0, 0, 1)$.

Definition at line 89 of file vpFeaturePoint3D.cpp.

References init().

Referenced by duplicate().

◆ ~vpFeaturePoint3D()

virtual vpFeaturePoint3D::~vpFeaturePoint3D ( )
inlinevirtual

Destructor. Does nothing.

Definition at line 216 of file vpFeaturePoint3D.h.

Member Function Documentation

◆ buildFrom() [1/2]

void vpFeaturePoint3D::buildFrom ( const vpPoint &  p)

Build a 3D point visual feature from the camera frame coordinates $(X,Y,Z)$ of a point.

Parameters
p: A point with camera frame coordinates ${^c}P=(X,Y,Z)$ up to date (see vpPoint class).
Exceptions
vpFeatureException::badInitializationErrorIf the depth ( $Z$ coordinate) is negative. That means that the 3D point is behind the camera which is not possible.
vpFeatureException::badInitializationErrorIf the depth ( $Z$ coordinate) is null. That means that the 3D point is on the camera which is not possible.
Examples
mbot-apriltag-pbvs.cpp, and servoSimuPoint3DCamVelocity.cpp.

Definition at line 404 of file vpFeaturePoint3D.cpp.

References vpFeatureException::badInitializationError, vpTracker::cP, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::s, and vpERROR_TRACE.

◆ buildFrom() [2/2]

void vpFeaturePoint3D::buildFrom ( double  X,
double  Y,
double  Z 
)

Build a 3D point visual feature from the camera frame coordinates $(X,Y,Z)$ of a point.

Parameters
X,Y,Z: Camera frame coordinates $(X,Y,Z)$ of a 3D point.
Exceptions
vpFeatureException::badInitializationErrorIf the depth ( $Z$ coordinate) is negative. That means that the 3D point is on the camera which is not possible.
vpFeatureException::badInitializationErrorIf the depth ( $Z$ coordinate) is null. That means that the 3D point is on the camera which is not possible.

Definition at line 448 of file vpFeaturePoint3D.cpp.

References vpFeatureException::badInitializationError, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::s, and vpERROR_TRACE.

◆ 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 vpFeaturePoint3D::display ( const vpCameraParameters &  cam,
const vpImage< unsigned char > &  I,
const vpColor &  color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 530 of file vpFeaturePoint3D.cpp.

References vpERROR_TRACE.

◆ display() [2/2]

void vpFeaturePoint3D::display ( const vpCameraParameters &  cam,
const vpImage< vpRGBa > &  I,
const vpColor &  color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 547 of file vpFeaturePoint3D.cpp.

References vpERROR_TRACE.

◆ duplicate()

vpFeaturePoint3D * vpFeaturePoint3D::duplicate ( ) const
virtual

Create an object with the same type.

vpBasicFeature *s_star;
vpFeaturePoint3D s;
s_star = s.duplicate(); // s_star is now a vpFeaturePoint3D
vpBasicFeature
class that defines what is a visual feature
Definition: vpBasicFeature.h:78

Implements vpBasicFeature.

Definition at line 520 of file vpFeaturePoint3D.cpp.

References vpFeaturePoint3D().

◆ error()

vpColVector vpFeaturePoint3D::error ( const vpBasicFeature &  s_star,
unsigned int  select = FEATURE_ALL 
)
virtual

Compute the error $ (s-s^*)$ between the current and the desired visual features from a subset of the possible features.

Parameters
s_star: Desired 3D point visual feature.
select: The error can be computed for a selection of a subset of the possible 3D point coordinate features.
  • To compute the error for all the three coordinates use vpBasicFeature::FEATURE_ALL. In that case the error vector is a 3 dimension column vector.
  • To compute the error for only one of the coordinate feature $(X,Y, or Z)$ use one of the corresponding function selectX(), selectY() or selectZ(). In that case the error vector is a 1 dimension column vector.
Returns
The error $ (s-s^*)$ between the current and the desired visual feature.

The code below shows how to use this method to manipulate the $ Z $ subset:

// Creation of the current feature s
vpFeaturePoint3D s;
s.set_Z(0.8); // Initialization of the current Z feature
// Creation of the desired feature s*.
vpFeatureTranslation s_star;
s_star.set_Z(1); // Initialization of the current Z* feature to Z*=1 meter
// Compute the interaction matrix for the Z coordinate feature
vpMatrix L_Z = s.interaction( vpFeaturePoint3D::selectZ() );
// Compute the error vector (s-s*) for the Z feature
s.error(s_star, vpFeaturePoint3D::selectZ());
vpFeaturePoint3D::selectZ
static unsigned int selectZ()
Definition: vpFeaturePoint3D.cpp:637
vpFeatureTranslation
Class that defines the translation visual feature .
Definition: vpFeatureTranslation.h:277

To manipulate the subset features $s=(Y, Z)$, the code becomes:

// Compute the interaction matrix for the Y, Z feature coordinates
vpMatrix L_YZ = s.interaction( vpFeaturePoint3D::selectY() |
vpFeaturePoint3D::selectZ() );
// Compute the error vector e = (s-s*) for the Y, Z feature coordinates
vpColVector e = s.error(s_star, vpFeaturePoint3D::selectY() |
vpFeaturePoint3D::selectZ());

Reimplemented from vpBasicFeature.

Definition at line 358 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::s, selectX(), selectY(), selectZ(), and vpColVector::stack().

◆ 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 114 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().

◆ get_X()

double vpFeaturePoint3D::get_X ( ) const

Return the $X$ coordinate in the camera frame of the 3D point.

Definition at line 155 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::s.

Referenced by interaction(), and print().

◆ get_Y()

double vpFeaturePoint3D::get_Y ( ) const

Return the $Y$ coordinate in the camera frame of the 3D point.

Definition at line 158 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::s.

Referenced by interaction(), and print().

◆ get_Z()

double vpFeaturePoint3D::get_Z ( ) const

Return the $Z$ coordinate in the camera frame of the 3D point.

Definition at line 161 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::s.

Referenced by interaction(), and print().

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 123 of file vpBasicFeature.h.

◆ getDimension()

unsigned int vpBasicFeature::getDimension ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 100 of file vpBasicFeature.cpp.

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

◆ init()

void vpFeaturePoint3D::init ( void  )
virtual

Initialise the memory space requested for a 3D point visual feature.

By default this feature is initialized to ${\bf X} = (0, 0, 1)$.

Implements vpBasicFeature.

Definition at line 64 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

Referenced by vpFeaturePoint3D().

◆ interaction()

vpMatrix vpFeaturePoint3D::interaction ( unsigned int  select = FEATURE_ALL)
virtual

Compute and return the interaction matrix $ L $ associated to a subset of the possible 3D point features $(X,Y,Z)$ that represent the 3D point coordinates expressed in the camera frame.

\[ L = \left[ \begin{array}{rrrrrr} -1 & 0 & 0 & 0 & -Z & Y \\ 0 & -1 & 0 & Z & 0 & -X \\ 0 & 0 & -1 & -Y & X & 0 \\ \end{array} \right] \]

Parameters
select: Selection of a subset of the possible 3D point coordinate features.
  • To compute the interaction matrix for all the three subset features $(X,Y,Z)$ use vpBasicFeature::FEATURE_ALL. In that case the dimension of the interaction matrix is $ [3 \times 6] $
  • To compute the interaction matrix for only one of the subset ( $X, Y,Z$) use one of the corresponding function selectX(), selectY() or selectZ(). In that case the returned interaction matrix is $ [1 \times 6] $ dimension.
Returns
The interaction matrix computed from the 3D point coordinate features.

The code below shows how to compute the interaction matrix associated to the visual feature $s = X $.

vpPoint point;
...
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point);
vpMatrix L_X = s.interaction( vpFeaturePoint3D::selectX() );

The code below shows how to compute the interaction matrix associated to the $s = (X,Y) $ subset visual feature:

vpMatrix L_XY = s.interaction( vpFeaturePoint3D::selectX() | vpFeaturePoint3D::selectY() );

L_XY is here now a 2 by 6 matrix. The first line corresponds to the $ X $ visual feature while the second one to the $ Y $ visual feature.

It is also possible to build the interaction matrix from all the 3D point coordinates by:

vpMatrix L_XYZ = s.interaction( vpBasicFeature::FEATURE_ALL );

In that case, L_XYZ is a 3 by 6 interaction matrix where the last line corresponds to the $ Z $ visual feature.

Implements vpBasicFeature.

Definition at line 230 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_X(), get_Y(), get_Z(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), selectX(), selectY(), selectZ(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.

◆ 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 vpFeaturePoint3D::print ( unsigned int  select = FEATURE_ALL) const
virtual

Print to stdout the values of the current visual feature $ s $.

Parameters
select: Selection of a subset of the possible 3D point feature coordinates.
vpPoint point;
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point);
s.print(); // print all the 3 components of the translation feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePoint3D::selectZ()); // print only the Z component

Implements vpBasicFeature.

Definition at line 496 of file vpFeaturePoint3D.cpp.

References get_X(), get_Y(), get_Z(), selectX(), selectY(), and selectZ().

◆ resetFlags()

void vpBasicFeature::resetFlags ( )
protectedinherited

Definition at line 131 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

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

◆ selectAll()

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

◆ selectX()

unsigned int vpFeaturePoint3D::selectX ( )
static

Function used to select the $ X$ subset coordinate of the 3D point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ X$ feature.

See the interaction() method for an usage example.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpFeaturePoint3D p;
vpServo task;
...
// Add the (X,Y) subset coordinates features from a 3D point to the task
task.addFeature(p, vpFeaturePoint3D::selectX() |
vpFeaturePoint3D::selectY());
See also
selectY(), selectZ()
Examples
mbot-apriltag-pbvs.cpp.

Definition at line 584 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by error(), interaction(), and print().

◆ selectY()

unsigned int vpFeaturePoint3D::selectY ( )
static

Function used to select the $ Y$ subset coordinate of the 3D point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ Y$ feature.

See the interaction() method for an usage example.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpFeaturePoint3D p;
vpServo task;
...
// Add the (X,Y) subset coordinates features from a 3D point to the task
task.addFeature(p, vpFeaturePoint3D::selectX() |
vpFeaturePoint3D::selectY());
See also
selectX(), selectZ()

Definition at line 611 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by error(), interaction(), and print().

◆ selectZ()

unsigned int vpFeaturePoint3D::selectZ ( )
static

Function used to select the $ Z$ subset coordinate of the 3D point visual feature.

This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to $ Z$ feature.

See the interaction() method for an usage example.

This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:

vpFeaturePoint3D p;
vpServo task;
...
// Add the (Z) subset coordinate feature from a 3D point to the task
task.addFeature(p, vpFeaturePoint3D::selectZ());
See also
selectX(), selectY()
Examples
mbot-apriltag-pbvs.cpp, and servoSimuPoint2DhalfCamVelocity1.cpp.

Definition at line 637 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by error(), interaction(), and print().

◆ set_X()

void vpFeaturePoint3D::set_X ( double  X)

Initialise the $X$ coordinate in the camera frame of the 3D Point visual feature ${\bf X} = (X,Y,Z)$.

Parameters
X: $X$ coordinate of the visual feature.
See also
get_X()

Definition at line 100 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Referenced by vpFeatureBuilder::create(), and set_XYZ().

◆ set_XYZ()

void vpFeaturePoint3D::set_XYZ ( double  X,
double  Y,
double  Z 
)

Initialize the 3D point coordinates.

Parameters
X,Y,Z: $(X,Y,Z)$ coordinates in the camera frame of the 3D point visual feature.
See also
set_X(), set_Y(), set_Z()
Examples
mbot-apriltag-pbvs.cpp, and servoSimuPoint3DCamVelocity.cpp.

Definition at line 144 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::flags, vpBasicFeature::nbParameters, set_X(), set_Y(), and set_Z().

◆ set_Y()

void vpFeaturePoint3D::set_Y ( double  Y)

Initialise the $Y$ coordinate in the camera frame of the 3D Point visual feature ${\bf X} = (X,Y,Z)$.

Parameters
Y: $Y$ coordinate of the visual feature.
See also
get_Y()

Definition at line 115 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Referenced by vpFeatureBuilder::create(), and set_XYZ().

◆ set_Z()

void vpFeaturePoint3D::set_Z ( double  Z)

Initialise the $Z$ coordinate in the camera frame of the 3D Point visual feature ${\bf X} = (X,Y,Z)$.

Parameters
Z: $Z$ coordinate or depth of the visual feature.
See also
get_Z()

Definition at line 130 of file vpFeaturePoint3D.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Referenced by vpFeatureBuilder::create(), and set_XYZ().

◆ 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 141 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

Member Data Documentation

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

◆ FEATURE_LINE

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 80 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(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), 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(), selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and selectZ().

◆ flags

bool* vpBasicFeature::flags
protectedinherited

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

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureTranslation::buildFrom(), buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), 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(), set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), 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().

◆ 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 buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), 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 vpFeatureTranslation::buildFrom(), buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpFeatureLuminance::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(), get_X(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_y(), get_Y(), vpFeatureVanishingPoint::get_y(), get_Z(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureLine::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(), set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), set_Y(), vpFeatureVanishingPoint::set_y(), set_Z(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().