Visual Servoing Platform
version 3.6.1 under development (2024-04-23)
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#include <visp3/visual_features/vpFeatureSegment.h>
Public Types | |
enum | vpBasicFeatureSelect { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Public Member Functions | |
vpFeatureSegment (bool normalized=false) | |
void | buildFrom (double x1, double y1, double Z1, double x2, double y2, double Z2) |
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 |
vpFeatureSegment * | duplicate () const vp_override |
vpColVector | error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) vp_override |
double | getXc () const |
double | getYc () const |
double | getL () const |
double | getAlpha () const |
double | getZ1 () const |
double | getZ2 () const |
void | init () vp_override |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) vp_override |
void | print (unsigned int select=FEATURE_ALL) const vp_override |
bool | isNormalized () |
void | setNormalized (bool normalized) |
void | setXc (double val) |
void | setYc (double val) |
void | setL (double val) |
void | setAlpha (double val) |
void | setZ1 (double val) |
void | setZ2 (double val) |
Static Public Member Functions | |
static unsigned int | selectXc () |
static unsigned int | selectYc () |
static unsigned int | selectL () |
static unsigned int | selectAlpha () |
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 () |
Class that defines a 2D segment visual features. This class allow to consider two sets of visual features:
The selection of the feature set is done either during construction using vpFeatureSegment(bool), or by setNormalized(bool).
Definition at line 64 of file vpFeatureSegment.h.
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inherited |
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 86 of file vpBasicFeature.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 81 of file vpBasicFeature.h.
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explicit |
Default constructor that builds an empty segment visual feature.
normalized | : If true, use normalized features . If false, use non normalized features . |
Definition at line 77 of file vpFeatureSegment.cpp.
References init().
Referenced by duplicate().
void vpFeatureSegment::buildFrom | ( | double | x1, |
double | y1, | ||
double | Z1, | ||
double | x2, | ||
double | y2, | ||
double | Z2 | ||
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Build a segment visual feature from two points and their Z coordinates.
x1,y1 | : coordinates of the first point in the image plane. |
Z1 | : depth of the first point in the camera frame. |
x2,y2 | : coordinates of the second point in the image plane. |
Z2 | : depth of the second point in the camera frame. |
Depending on the feature set that is considered, the features or are computed from the two points using the following formulae:
Definition at line 552 of file vpFeatureSegment.cpp.
References setAlpha(), setL(), setXc(), setYc(), setZ1(), and setZ2().
Referenced by vpFeatureBuilder::create().
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inlineinherited |
Return the dimension of the feature vector .
Definition at line 108 of file vpBasicFeature.h.
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virtual |
Displays a segment representing the feature on a grayscale image. The two limiting points are displayed in cyan and yellow.
cam | : Camera parameters. |
I | : Image. |
color | : Color to use for the segment. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 469 of file vpFeatureSegment.cpp.
References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCircle(), vpDisplay::displayLine(), and vpColor::yellow.
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virtual |
Displays a segment representing the feature on a RGBa image. The two limiting points are displayed in cyan and yellow.
cam | : Camera parameters. |
I | : Image. |
color | : Color to use for the segment. |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 507 of file vpFeatureSegment.cpp.
References vpMeterPixelConversion::convertPoint(), vpColor::cyan, vpDisplay::displayCircle(), vpDisplay::displayLine(), and vpColor::yellow.
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virtual |
Feature duplication.
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 452 of file vpFeatureSegment.cpp.
References vpFeatureSegment().
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virtual |
Computes the error between the current and the desired visual features from a subset of the possible features or .
For the angular component , we define the error as , where is modulo subtraction.
s_star | : Desired 2D segment feature. |
select | : The error can be computed for a selection of a subset of the possible segment features.
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Reimplemented from vpBasicFeature.
Definition at line 352 of file vpFeatureSegment.cpp.
References selectAlpha(), selectL(), selectXc(), selectYc(), and vpColVector::stack().
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inherited |
Get the feature vector .
Definition at line 112 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
Referenced by vpServo::computeError(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), and vpGenericFeature::error().
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inline |
Get the value of which represents the orientation of the segment.
Definition at line 113 of file vpFeatureSegment.h.
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inlineinherited |
Definition at line 121 of file vpBasicFeature.h.
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inherited |
Get the feature vector dimension.
Definition at line 99 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
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Get the length of the segment.
Definition at line 105 of file vpFeatureSegment.h.
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Get the x coordinate of the segment center in the image plane.
Definition at line 89 of file vpFeatureSegment.h.
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Get the y coordinate of the segment center in the image plane.
Definition at line 97 of file vpFeatureSegment.h.
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Get the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment first point.
Definition at line 121 of file vpFeatureSegment.h.
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inline |
Get the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment second point.
Definition at line 130 of file vpFeatureSegment.h.
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virtual |
Initialise the memory space requested for segment visual feature.
Implements vpBasicFeature.
Definition at line 56 of file vpFeatureSegment.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureSegment().
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virtual |
Compute and return the interaction matrix associated to a subset of the possible features or .
The interaction matrix of the non normalized feature set is of the following form:
with and where are the depths of the points.
select | : Selection of a subset of the possible segment features.
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The code below shows how to compute the interaction matrix associated to the visual feature .
In this case, L is a 4 by 6 matrix.
It is also possible to build the interaction matrix associated to one of the possible features. The code below shows how to modify the previous code to consider as visual feature .
In that case, L is a 2 by 6 matrix.
Implements vpBasicFeature.
Definition at line 178 of file vpFeatureSegment.cpp.
References vpBasicFeature::deallocate, vpBasicFeature::flags, vpBasicFeature::nbParameters, selectAlpha(), selectL(), selectXc(), selectYc(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.
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inline |
Indicates if the normalized features are considered.
Definition at line 143 of file vpFeatureSegment.h.
Referenced by vpFeatureBuilder::create().
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 128 of file vpBasicFeature.h.
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virtual |
Print to stdout the values of the current visual feature .
select | : Selection of a subset of the possible segment features ( , , , ). |
produces the following output:
while
produces the following output:
Implements vpBasicFeature.
Definition at line 413 of file vpFeatureSegment.cpp.
References vpMath::deg(), vpBasicFeature::s, selectAlpha(), selectL(), selectXc(), and selectYc().
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protectedinherited |
Definition at line 129 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), and vpFeatureTranslation::interaction().
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inlinestaticinherited |
Select all the features.
Definition at line 140 of file vpBasicFeature.h.
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static |
Function used to select the subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to 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:
Definition at line 673 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 649 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 601 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the or subfeature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to or 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:
Definition at line 625 of file vpFeatureSegment.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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inline |
Set the value of which represents the orientation of the segment in the image plane. It is one parameter of the visual feature .
val | : value to set. |
Definition at line 206 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inlineinherited |
Definition at line 135 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
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inherited |
Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.
Definition at line 139 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
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inline |
Set the value of the segment length in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 193 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inline |
Set the king of feature to consider.
normalized | : If true, use normalized features . If false, use non normalized features . |
Definition at line 156 of file vpFeatureSegment.h.
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Set the value of the x coordinate of the segment center in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 166 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inline |
Set the value of the y coordinate of the segment center in the image plane. It is one parameter of the visual feature .
val | : Value to set, that is either equal to when normalized features are considered, or equal to otherwise. |
Definition at line 180 of file vpFeatureSegment.h.
Referenced by buildFrom(), and vpFeatureBuilder::create().
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inline |
Set the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment first point.
This value is requested to compute the interaction matrix.
val | : value to set. |
vpFeatureException::badInitializationError | : If Z1 is behind the camera or equal to zero. |
Definition at line 225 of file vpFeatureSegment.h.
References vpFeatureException::badInitializationError, and vpERROR_TRACE.
Referenced by buildFrom().
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inline |
Set the value of which represents the Z coordinate in the camera frame of the 3D point that corresponds to the segment second point.
This value is requested to compute the interaction matrix.
val | : value to set. |
vpFeatureException::badInitializationError | : If Z2 is behind the camera or equal to zero. |
Definition at line 257 of file vpFeatureSegment.h.
References vpFeatureException::badInitializationError, and vpERROR_TRACE.
Referenced by buildFrom().
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protectedinherited |
Definition at line 146 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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protectedinherited |
Dimension of the visual feature.
Definition at line 92 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(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), 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().
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staticinherited |
Definition at line 79 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(), selectAlpha(), vpFeatureVanishingPoint::selectAlpha(), vpFeatureVanishingPoint::selectAtanOneOverRho(), 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(), vpFeaturePoint3D::selectX(), vpFeatureVanishingPoint::selectX(), selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureVanishingPoint::selectY(), selectYc(), and vpFeaturePoint3D::selectZ().
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protectedinherited |
Ensure that all the parameters needed to compute the interaction matrix are set.
Definition at line 96 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::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(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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protectedinherited |
Number of parameters needed to compute the interaction matrix.
Definition at line 98 of file vpBasicFeature.h.
Referenced by vpFeaturePoint3D::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(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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protectedinherited |
State of the visual feature.
Definition at line 90 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::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(), vpFeaturePoint3D::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(), 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(), 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(), 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().