Visual Servoing Platform
version 3.6.1 under development (2024-11-14)
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#include <visp3/visual_features/vpGenericFeature.h>
Public Types | |
enum | vpBasicFeatureSelect { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Public Member Functions | |
VP_EXPLICIT | vpGenericFeature (unsigned int dim) |
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 |
vpGenericFeature * | duplicate () const VP_OVERRIDE |
vpColVector | error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) VP_OVERRIDE |
vpColVector | error (unsigned int select=FEATURE_ALL) |
vpMatrix | getInteractionMatrix () const |
void | get_s (vpColVector &s) const |
void | get_s (double &s0) const |
void | get_s (double &s0, double &s1) const |
void | get_s (double &s0, double &s1, double &s2) const |
void | init () VP_OVERRIDE |
vpMatrix | interaction (unsigned int select=FEATURE_ALL) VP_OVERRIDE |
void | print (unsigned int select=FEATURE_ALL) const VP_OVERRIDE |
void | setInteractionMatrix (const vpMatrix &L) |
void | setError (const vpColVector &error_vector) |
void | set_s (const vpColVector &s) |
void | set_s (const double s0) |
void | set_s (const double s0, const double s1) |
void | set_s (const double s0, const double s1, const double s2) |
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 () |
vpBasicFeatureDeallocatorType | deallocate |
static unsigned int | selectAll () |
void | resetFlags () |
Class that enables to define a feature or a set of features which are not implemented in ViSP as a specific class. It is indeed possible to create its own features, to use the corresponding interaction matrix, and to compute an error between the current and the desired feature. Moreover the created features can be mixed with features already implemented.
The following example shows how to use the vpGenericFeature class to create and use the feature where Z corresponds to the depth of a point whose 2D coordinates in the camera frame are and . The interaction matrix corresponding to this feature is
.
The second example shows how to create and use a feature whose specificity is to have a desired feature fixed to zero. It is the case for the feature .
If the feature needs to be use with other features, the example servoSimuPoint2DhalfCamVelocity2.cpp shows how to do it.
Definition at line 185 of file vpGenericFeature.h.
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inherited |
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 88 of file vpBasicFeature.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 83 of file vpBasicFeature.h.
vpGenericFeature::vpGenericFeature | ( | unsigned int | dimension_gen_s | ) |
Constructor of the class you have to use. The feature table is initilialized with the good dimension.
dimension_gen_s | : Dimension of the generic feature. It corresponds to the number of features you want to create. |
Definition at line 77 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpColVector::resize(), and vpBasicFeature::s.
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inlineinherited |
Return the dimension of the feature vector .
Definition at line 110 of file vpBasicFeature.h.
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virtual |
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virtual |
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virtual |
Implements vpBasicFeature.
Definition at line 612 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s.
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virtual |
Compute the error between the current and the desired visual features from a subset of the possible features.
if | errorHasBeenInitialized is true (that is if vpGenericFeature::setError have been used) then s_star is useless. In that since the error HAS TO BE recomputed at each iteration errorHasBeenInitialized is set to errHasToBeUpdated if vpGenericFeature::serError is not used in the loop then an exception is thrown |
obviously if vpGenericFeature::setError is not used then s_star is considered and this warning is meaningless.
s_star | : Desired visual feature. |
select | : The error can be computed for a selection of a subset of the possible features.
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The code below shows how to use this method to manipulate the two visual features over three:
Reimplemented from vpBasicFeature.
Definition at line 159 of file vpGenericFeature.cpp.
References vpFeatureException::badErrorVectorError, vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::get_s(), vpArray2D< Type >::getRows(), vpBasicFeature::s, vpFeatureException::sizeMismatchError, and vpColVector::stack().
vpColVector vpGenericFeature::error | ( | unsigned int | select = FEATURE_ALL | ) |
Compute the error between the current and the desired visual features from a subset of the possible features. But in this case the desired feature is considered as set to 0.
select | : The error can be computed for a selection of a subset of the possible features.
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The code below shows how to use this method to manipulate the two visual features over three:
Definition at line 247 of file vpGenericFeature.cpp.
References vpFeatureException::badErrorVectorError, vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
void vpGenericFeature::get_s | ( | double & | s0 | ) | const |
get the value of one feature if the number of feature is equal to 1.
s0 | : value of the visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 567 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
void vpGenericFeature::get_s | ( | double & | s0, |
double & | s1 | ||
) | const |
get the value of two features if the number of feature is equal to 2.
s0 | : value of the first visual feature |
s1 | : value of the second visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 524 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
void vpGenericFeature::get_s | ( | double & | s0, |
double & | s1, | ||
double & | s2 | ||
) | const |
get the value of three features if the number of feature is equal to 3.
s0 | : value of the first visual feature |
s1 | : value of the second visual feature |
s2 | : value of the third visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 475 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
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inherited |
Get the feature vector .
Definition at line 115 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
Referenced by vpServo::computeError(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), and error().
void vpGenericFeature::get_s | ( | vpColVector & | s_vector | ) | const |
get the value of all the features.
s_vector | : It is a vector which will contain the value of the visual features. |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 422 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
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inlineinherited |
Definition at line 123 of file vpBasicFeature.h.
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inherited |
Get the feature vector dimension.
Definition at line 102 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
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inline |
Definition at line 202 of file vpGenericFeature.h.
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Implements vpBasicFeature.
Definition at line 46 of file vpGenericFeature.cpp.
References vpBasicFeature::s.
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Compute and return the interaction matrix for the whole features or a part of them.
select | : Selection of a subset of the possible features.
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The code below shows how to compute the interaction matrix associated to the first visual feature.
The code below shows how to compute the interaction matrix associated to two visual features over three.
Implements vpBasicFeature.
Definition at line 337 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), vpFeatureException::notInitializedError, vpArray2D< Type >::resize(), and vpMatrix::stack().
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 130 of file vpBasicFeature.h.
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Print to stdout the values of the current visual feature .
select | : Selection of a subset of the possible features.
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Implements vpBasicFeature.
Definition at line 600 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and vpBasicFeature::s.
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protectedinherited |
Definition at line 132 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), and vpFeatureTranslation::interaction().
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inlinestaticinherited |
void vpGenericFeature::set_s | ( | const double | s0 | ) |
set the value of one feature if the number of feature is equal to 1.
s0 | : value of the visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 546 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
void vpGenericFeature::set_s | ( | const double | s0, |
const double | s1 | ||
) |
set the value of two features if the number of feature is equal to 2.
s0 | : value of the first visual feature |
s1 | : value of the second visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 500 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
void vpGenericFeature::set_s | ( | const double | s0, |
const double | s1, | ||
const double | s2 | ||
) |
set the value of three features if the number of feature is equal to 3.
s0 | : value of the first visual feature |
s1 | : value of the second visual feature |
s2 | : value of the third visual feature |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 447 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
void vpGenericFeature::set_s | ( | const vpColVector & | s_vector | ) |
set the value of all the features.
s_vector | : It is a vector containing the value of the visual features. |
an | exception is thrown if the number of row of the vector s is different from the dimension of the visual feature as specified in the constructor |
Definition at line 400 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), vpBasicFeature::s, and vpFeatureException::sizeMismatchError.
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inlineinherited |
Definition at line 137 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
void vpGenericFeature::setError | ( | const vpColVector & | error_vector | ) |
Set the error vector .
error_vector | : Error vector . |
vpFeatureException::sizeMismatchError | : If the size of the error vector is bad. |
Definition at line 92 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), and vpFeatureException::sizeMismatchError.
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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.
void vpGenericFeature::setInteractionMatrix | ( | const vpMatrix & | L_ | ) |
set the value of the interaction matrix.
L_ | : The matrix corresponding to the interaction matrix you computed. |
an | exception is thrown if the number of row of the interaction matrix is different from the dimension of the visual feature as specified in the constructor |
Definition at line 377 of file vpGenericFeature.cpp.
References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), and vpFeatureException::sizeMismatchError.
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Definition at line 148 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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Dimension of the visual feature.
Definition at line 94 of file vpBasicFeature.h.
Referenced by vpFeatureMoment::duplicate(), duplicate(), vpBasicFeature::error(), vpFeatureLuminanceMapping::error(), error(), vpFeatureLuminance::error(), vpBasicFeature::get_s(), get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminanceMapping::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureLuminanceMapping::interaction(), vpFeatureMoment::interaction(), interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureMoment::print(), print(), set_s(), setError(), setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature().
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Definition at line 81 of file vpBasicFeature.h.
Referenced by vpBasicFeature::error(), error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureMoment::interaction(), interaction(), vpFeatureMoment::print(), print(), vpFeatureEllipse::select_n02(), vpFeatureEllipse::select_n11(), vpFeatureEllipse::select_n20(), vpFeatureSegment::selectAlpha(), vpFeatureVanishingPoint::selectAlpha(), vpFeatureVanishingPoint::selectAtanOneOverRho(), vpFeatureSegment::selectL(), vpFeatureVanishingPoint::selectOneOverRho(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().
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Ensure that all the parameters needed to compute the interaction matrix are set.
Definition at line 98 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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Number of parameters needed to compute the interaction matrix.
Definition at line 100 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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State of the visual feature.
Definition at line 92 of file vpBasicFeature.h.
Referenced by vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureLuminanceMapping::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), error(), vpFeatureLuminance::error(), vpFeatureLuminanceMapping::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), vpBasicFeature::get_s(), get_s(), vpFeaturePointPolar::get_theta(), vpFeatureThetaU::get_TUx(), vpFeatureThetaU::get_TUy(), vpFeatureThetaU::get_TUz(), vpFeatureTranslation::get_Tx(), vpFeatureTranslation::get_Ty(), vpFeatureTranslation::get_Tz(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint3D::get_Z(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), 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(), print(), vpFeatureDepth::set_LogZoverZstar(), vpFeaturePointPolar::set_rho(), 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().