Visual Servoing Platform  version 3.2.1 under development (2019-08-08)
vpFeatureVanishingPoint Class Reference

#include <visp3/visual_features/vpFeatureVanishingPoint.h>

+ Inheritance diagram for vpFeatureVanishingPoint:

Public Types

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

Public Member Functions

 vpFeatureVanishingPoint ()
 
virtual ~vpFeatureVanishingPoint ()
 
void buildFrom (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
 
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
vpFeatureVanishingPointduplicate () const
 
vpColVector error (const vpBasicFeature &s_star, const unsigned int select=(selectX()|selectY()))
 
double get_x () const
 
double get_y () const
 
double getAtanOneOverRho () const
 
double getOneOverRho () const
 
double getAlpha () const
 
void init ()
 
vpMatrix interaction (const unsigned int select=(selectX()|selectY()))
 
void print (const unsigned int select=(selectX()|selectY())) const
 
void set_x (const double x)
 
void set_y (const double y)
 
void set_xy (const double x, const double y)
 
void setAtanOneOverRho (const double atan_one_over_rho)
 
void setOneOverRho (const double one_over_rho)
 
void setAlpha (const double alpha)
 
Inherited functionalities from vpBasicFeature
unsigned int dimension_s ()
 
vpColVector get_s (unsigned int select=FEATURE_ALL) const
 
vpBasicFeatureDeallocatorType getDeallocate ()
 
unsigned int getDimension (const unsigned int select=FEATURE_ALL) const
 
virtual double operator[] (const unsigned int i) const
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
void setFlags ()
 

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 unsigned int selectAll ()
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 

Protected Member Functions

void resetFlags ()
 

Protected Attributes

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

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 fonction 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:

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

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

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

Definition at line 75 of file vpFeatureVanishingPoint.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 82 of file vpBasicFeature.h.

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 88 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureVanishingPoint::vpFeatureVanishingPoint ( )

Default constructor that calls init().

Definition at line 77 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by duplicate().

virtual vpFeatureVanishingPoint::~vpFeatureVanishingPoint ( )
inlinevirtual

Member Function Documentation

void vpFeatureVanishingPoint::buildFrom ( 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 350 of file vpFeatureVanishingPoint.cpp.

References set_xy().

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

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

Definition at line 110 of file vpBasicFeature.h.

References vpColor::green.

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 363 of file vpFeatureVanishingPoint.cpp.

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

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 397 of file vpFeatureVanishingPoint.cpp.

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

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const
virtual

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

Implements vpBasicFeature.

Definition at line 426 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

vpColVector vpFeatureVanishingPoint::error ( const vpBasicFeature s_star,
const unsigned int  select = (selectX() | 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 274 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpPoseFeatures::addFeatureSegment().

double vpFeatureVanishingPoint::get_x ( ) const

Get vanishing point feature $ x $ value.

Definition at line 88 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::get_y ( ) const

Get vanishing point feature $ y $ value.

Definition at line 99 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::getAlpha ( ) const

Get vanishing point feature $ \alpha $ value.

Definition at line 140 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

double vpFeatureVanishingPoint::getAtanOneOverRho ( ) const

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

Definition at line 129 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

Referenced by display(), and print().

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 123 of file vpBasicFeature.h.

unsigned int vpBasicFeature::getDimension ( const 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.

Referenced by vpFeatureMoment::vpFeatureMoment().

double vpFeatureVanishingPoint::getOneOverRho ( ) const

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

Definition at line 126 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

void vpFeatureVanishingPoint::init ( void  )
virtual

Vanishing point visual feature initialization.

Implements vpBasicFeature.

Definition at line 61 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

vpMatrix vpFeatureVanishingPoint::interaction ( const unsigned int  select = (selectX() | 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 150 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::deallocate, vpBasicFeature::flags, get_x(), get_y(), getAlpha(), getOneOverRho(), vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpArray2D< Type >::resize(), selectAlpha(), selectAtanOneOverRho(), selectOneOverRho(), selectX(), selectY(), vpMatrix::stack(), vpBasicFeature::user, and vpTRACE.

Referenced by vpPoseFeatures::addFeatureSegment().

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

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

Definition at line 130 of file vpBasicFeature.h.

void vpFeatureVanishingPoint::print ( const unsigned int  select = (selectX() | 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 329 of file vpFeatureVanishingPoint.cpp.

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

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

unsigned int vpFeatureVanishingPoint::selectAlpha ( )
static

Select $ s = \theta $ visual feature.

Definition at line 451 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectAtanOneOverRho ( )
static

Select visual feature $ s = \arctan(1/\rho) $.

Definition at line 446 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectOneOverRho ( )
static

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

Definition at line 441 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectX ( )
static

Select visual feature $ s = x $.

Definition at line 433 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

unsigned int vpFeatureVanishingPoint::selectY ( )
static

Select visual feature $ s = y $.

Definition at line 436 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

void vpFeatureVanishingPoint::set_x ( const double  x)

Set vanishing point feature $ x $ value.

Definition at line 80 of file vpFeatureVanishingPoint.cpp.

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

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

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

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

Definition at line 102 of file vpFeatureVanishingPoint.cpp.

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

Referenced by buildFrom().

void vpFeatureVanishingPoint::set_y ( const double  y)

Set vanishing point feature $ y $ value.

Definition at line 91 of file vpFeatureVanishingPoint.cpp.

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

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

void vpFeatureVanishingPoint::setAlpha ( const double  alpha)

Set vanishing point feature $ \alpha $ value.

Definition at line 132 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureBuilder::create().

void vpFeatureVanishingPoint::setAtanOneOverRho ( const double  atan_one_over_rho)

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

Definition at line 118 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureBuilder::create().

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

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.

void vpFeatureVanishingPoint::setOneOverRho ( const double  one_over_rho)

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

Definition at line 110 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureBuilder::create().

Member Data Documentation

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(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::print(), vpFeatureMoment::print(), selectAlpha(), vpFeatureSegment::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(), selectX(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

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 vpFeatureEllipse::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureEllipse::init(), init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::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(), set_x(), vpFeatureEllipse::set_x(), vpFeatureDepth::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), set_y(), vpFeatureEllipse::set_y(), vpFeatureDepth::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureLuminance::set_Z(), vpFeatureDepth::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), setAlpha(), setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMu(), setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().

unsigned int vpFeatureVanishingPoint::m_select
protected
vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureEllipse::error(), error(), vpFeatureLuminance::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::error(), vpFeatureTranslation::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(), get_x(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), get_y(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeaturePoint3D::get_Z(), getAlpha(), getAtanOneOverRho(), vpBasicFeature::getDimension(), getOneOverRho(), init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpGenericFeature::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureSegment::print(), vpGenericFeature::print(), vpFeatureMoment::print(), vpFeatureLine::print(), vpFeatureThetaU::print(), vpFeatureTranslation::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(), set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), setAlpha(), setAtanOneOverRho(), vpFeatureEllipse::setMu(), setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().