Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpFeatureVanishingPoint Class Reference

#include <visp3/visual_features/vpFeatureVanishingPoint.h>

+ Inheritance diagram for vpFeatureVanishingPoint:

Public Types

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

Public Member Functions

 vpFeatureVanishingPoint ()
 
void buildFrom (double x, double y)
 
vpFeatureVanishingPointbuild (const double &x, const double &y)
 
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
 
vpFeatureVanishingPointduplicate () const vp_override
 
vpColVector error (const vpBasicFeature &s_star, unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) vp_override
 
double get_x () const
 
double get_y () const
 
double getAtanOneOverRho () const
 
double getOneOverRho () const
 
double getAlpha () const
 
void init () vp_override
 
vpMatrix interaction (unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) vp_override
 
void print (unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) const vp_override
 
void set_x (double x)
 
void set_y (double y)
 
void set_xy (double x, double y)
 
void setAtanOneOverRho (double atan_one_over_rho)
 
void setOneOverRho (double one_over_rho)
 
void setAlpha (double alpha)
 

Static Public Member Functions

static unsigned int selectAlpha ()
 
static unsigned int selectAtanOneOverRho ()
 
static unsigned int selectOneOverRho ()
 
static unsigned int selectX ()
 
static unsigned int selectY ()
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 

Protected Attributes

unsigned int m_select
 
vpColVector s
 
unsigned int dim_s
 
bool * flags
 
unsigned int nbParameters
 

Inherited functionalities from vpBasicFeature

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

Detailed Description

Class that defines 2D vanishing point visual features. Various features can be considered:

  • Either the cartesian coordinates $ (x, y) $ of the vanishing point obtained from the intersection of two lines; in that case $ {\bf s} = (x, y) $ and the corresponding interaction matrices are:

    \[ L_x = \left[ \begin{array}{cccccc} 0 & 0 & 0 & x y & -(1 + x^2) & y \end{array} \right] \]

    \[ L_y = \left[ \begin{array}{cccccc} 0 & 0 & 0 & 1 + y * y & -xy & -x \end{array} \right] \]

  • Rather features function of the polar coordinates of the vanishing point obtained themselves from the polar coordinates of the two lines $(\rho_1, \theta_1)$ and $(\rho_2, \theta_2)$; in that case $ {\bf s} = (\arctan(1/\rho), 1/\rho, \alpha) $ with:

    \[ 1/\rho = \frac{\sin(\theta_1 - \theta_2)}{\sqrt{\rho_1^2 + \rho_2^2 - 2 \rho_1 \rho_2 cos(\theta_1 - \theta_2)}} \]

    \[ \alpha = \frac{\rho_1 \cos \theta_2 - \rho_2 cos \theta_1}{\sqrt{\rho_1^2 + \rho_2^2 - 2 \rho_1 \rho_2 cos(\theta_1 - \theta_2)}} \]

    The corresponding interaction matrices are:

    \[ L_{\arctan(\frac{1}{\rho})} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & - \sin \alpha & \cos \alpha & 0 \end{array} \right] \]

    \[ L_{\frac{1}{\rho}} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & -(1 + \frac{1}{\rho^2}) \sin \alpha & (1 + \frac{1}{\rho^2}) \cos \alpha & 0 \end{array} \right] \]

    \[ L_{\alpha} = \left[ \begin{array}{cccccc} 0 & 0 & 0 & \frac{\cos \alpha}{\rho} & \frac{\sin \alpha}{\rho} & -1 \end{array} \right] \]

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 72 of file vpFeatureVanishingPoint.h.

Member Enumeration Documentation

◆ vpBasicFeatureDeallocatorType

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 88 of file vpBasicFeature.h.

◆ vpBasicFeatureSelect

Enumerator
FEATURE_ALL 

Definition at line 83 of file vpBasicFeature.h.

Constructor & Destructor Documentation

◆ vpFeatureVanishingPoint()

vpFeatureVanishingPoint::vpFeatureVanishingPoint ( )

Default constructor that calls init().

Definition at line 78 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by duplicate().

Member Function Documentation

◆ build()

vpFeatureVanishingPoint & vpFeatureVanishingPoint::build ( const double &  x,
const double &  y 
)

Set vanishing point visual feature $ {\bf s} = (x, y) $ from cartesian coordinates. Same as set_xy().

Definition at line 358 of file vpFeatureVanishingPoint.cpp.

References set_xy().

◆ buildFrom()

void vpFeatureVanishingPoint::buildFrom ( double  x,
double  y 
)

Set vanishing point visual feature $ {\bf s} = (x, y) $ from cartesian coordinates. Same as set_xy().

Deprecated:
You should use build(const double&, const double &) instead.

Definition at line 354 of file vpFeatureVanishingPoint.cpp.

References set_xy().

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

Display vanishing point feature.

Parameters
cam: Camera parameters.
I: Image.
color: Color to use for the display.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 372 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), m_select, selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

◆ display() [2/2]

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

Display vanishing point feature.

Parameters
cam: Camera parameters.
I: color Image.
color: Color to use for the display.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 406 of file vpFeatureVanishingPoint.cpp.

References vpFeatureDisplay::displayPoint(), get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), m_select, selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

◆ duplicate()

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const
virtual

Duplicate visual feature (used by the vpServo class only).

Implements vpBasicFeature.

Definition at line 435 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

◆ error()

vpColVector vpFeatureVanishingPoint::error ( const vpBasicFeature s_star,
unsigned int  select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()) 
)
virtual

Compute the error between two visual features from a subset of the possible features.

Parameters
s_star: Desired visual feature $ {\bf s}^* $.
select: Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for $ 1/\rho $, or selectAlpha() for $ \alpha $ visual feature. You can also use a combination like selectX() | selectY() to select x and y visual features.

Reimplemented from vpBasicFeature.

Definition at line 275 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s, selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), selectY(), and vpColVector::stack().

◆ get_s()

◆ get_x()

double vpFeatureVanishingPoint::get_x ( ) const

Get vanishing point feature $ x $ value.

Definition at line 89 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ get_y()

double vpFeatureVanishingPoint::get_y ( ) const

Get vanishing point feature $ y $ value.

Definition at line 100 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ getAlpha()

double vpFeatureVanishingPoint::getAlpha ( ) const

Get vanishing point feature $ \alpha $ value.

Definition at line 141 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ getAtanOneOverRho()

double vpFeatureVanishingPoint::getAtanOneOverRho ( ) const

Get vanishing point feature $ \arctan(1/\rho) $ value.

Definition at line 130 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

Referenced by display(), 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.

Examples
testPoint.cpp.

Definition at line 102 of file vpBasicFeature.cpp.

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

◆ getOneOverRho()

double vpFeatureVanishingPoint::getOneOverRho ( ) const

Get vanishing point feature $ 1/\rho $ value.

Definition at line 127 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ init()

BEGIN_VISP_NAMESPACE void vpFeatureVanishingPoint::init ( void  )
virtual

Vanishing point visual feature initialization.

Implements vpBasicFeature.

Definition at line 62 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

◆ interaction()

vpMatrix vpFeatureVanishingPoint::interaction ( unsigned int  select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()))
virtual

Compute the interaction matrix from a subset of the possible features.

Parameters
select: Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for $ 1/\rho $, or selectAlpha() for $ \alpha $ visual feature. You can also use a combination like selectX() | selectY() to select x and y visual features.

Implements vpBasicFeature.

Definition at line 151 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), getAlpha(), getOneOverRho(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), selectY(), 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 vpFeatureVanishingPoint::print ( unsigned int  select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY())) const
virtual

Print vanishing point features values to stdout.

Parameters
select: Use either selectX() to display x value, selectY() to display y value, select selectOneOverRho() to display $ 1/\rho $ value, or selectAlpha() to display $ \alpha $ value. You can also use a combination like selectX() | selectY() to display x and y values.

Implements vpBasicFeature.

Definition at line 330 of file vpFeatureVanishingPoint.cpp.

References get_x(), get_y(), getAlpha(), getAtanOneOverRho(), getOneOverRho(), selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), and selectY().

◆ resetFlags()

◆ selectAll()

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Examples
testPoint.cpp.

Definition at line 142 of file vpBasicFeature.h.

◆ selectAlpha()

unsigned int vpFeatureVanishingPoint::selectAlpha ( )
static

Select $ s = \theta $ visual feature.

Definition at line 460 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), error(), interaction(), print(), and setAlpha().

◆ selectAtanOneOverRho()

unsigned int vpFeatureVanishingPoint::selectAtanOneOverRho ( )
static

◆ selectOneOverRho()

unsigned int vpFeatureVanishingPoint::selectOneOverRho ( )
static

Select visual feature $ s = 1/\rho $.

Definition at line 450 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), display(), error(), interaction(), print(), and setOneOverRho().

◆ selectX()

unsigned int vpFeatureVanishingPoint::selectX ( )
static

Select visual feature $ s = x $.

Definition at line 442 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), display(), error(), interaction(), print(), set_x(), and set_xy().

◆ selectY()

unsigned int vpFeatureVanishingPoint::selectY ( )
static

Select visual feature $ s = y $.

Definition at line 445 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by vpFeatureBuilder::create(), display(), error(), interaction(), print(), set_xy(), and set_y().

◆ set_x()

void vpFeatureVanishingPoint::set_x ( double  x)

Set vanishing point feature $ x $ value.

Definition at line 81 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectX().

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

◆ set_xy()

void vpFeatureVanishingPoint::set_xy ( double  x,
double  y 
)

Set vanishing point visual feature $ {\bf s} = (x, y) $ from cartesian coordinates. Same as build().

Definition at line 103 of file vpFeatureVanishingPoint.cpp.

References m_select, selectX(), selectY(), set_x(), and set_y().

Referenced by build(), and buildFrom().

◆ set_y()

void vpFeatureVanishingPoint::set_y ( double  y)

Set vanishing point feature $ y $ value.

Definition at line 92 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectY().

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

◆ setAlpha()

void vpFeatureVanishingPoint::setAlpha ( double  alpha)

Set vanishing point feature $ \alpha $ value.

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 133 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectAlpha().

Referenced by vpFeatureBuilder::create().

◆ setAtanOneOverRho()

void vpFeatureVanishingPoint::setAtanOneOverRho ( double  atan_one_over_rho)

Set vanishing point feature $ \arctan(1/\rho) $ value.

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 119 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectAtanOneOverRho().

Referenced by vpFeatureBuilder::create().

◆ 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.

◆ setOneOverRho()

void vpFeatureVanishingPoint::setOneOverRho ( double  one_over_rho)

Set vanishing point feature $ 1/\rho $ value.

Definition at line 111 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::flags, m_select, vpBasicFeature::s, and selectOneOverRho().

Referenced by vpFeatureBuilder::create().

Member Data Documentation

◆ deallocate

◆ dim_s

◆ 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(), selectAlpha(), selectAtanOneOverRho(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), 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(), selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

◆ 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::build(), vpFeaturePointPolar::build(), vpFeatureEllipse::build(), vpFeaturePoint::build(), vpFeatureDepth::build(), vpFeatureTranslation::build(), vpFeaturePoint3D::build(), vpFeatureThetaU::build(), vpFeatureLine::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), init(), vpFeatureMoment::init(), 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(), 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(), set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), setAlpha(), setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().

◆ m_select

unsigned int vpFeatureVanishingPoint::m_select
protected

◆ nbParameters

◆ s

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by vpFeatureLine::build(), vpFeaturePointPolar::build(), vpFeatureEllipse::build(), vpFeaturePoint::build(), vpFeatureDepth::build(), vpFeatureTranslation::build(), vpFeaturePoint3D::build(), vpFeatureThetaU::build(), vpFeatureLuminance::build(), vpFeatureLuminanceMapping::build(), vpFeatureLine::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), 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(), get_x(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), get_y(), vpFeaturePoint3D::get_Z(), getAlpha(), getAtanOneOverRho(), vpBasicFeature::getDimension(), getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), 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(), set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), set_y(), vpFeaturePoint3D::set_Z(), setAlpha(), setAtanOneOverRho(), vpFeatureEllipse::setMoments(), setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().