Visual Servoing Platform version 3.7.0
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vpFeatureMoment Class Referenceabstract
visual_features: Visual features module » Visual features

#include <vpFeatureMoment.h>

Inheritance diagram for vpFeatureMoment:

Public Types

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

Public Member Functions

 vpFeatureMoment (vpMomentDatabase &data_base, double A_=0.0, double B_=0.0, double C_=0.0, vpFeatureMomentDatabase *featureMoments=nullptr, unsigned int nbmatrices=1)

Static Public Attributes

static const unsigned int FEATURE_LINE [32]

Protected Member Functions

const vpMoment & getMoment () const
 vpFeatureMoment (const vpFeatureMoment &)=delete
vpFeatureMoment & operator= (const vpFeatureMoment &)=delete

Protected Attributes

const vpMoment * moment
vpMomentDatabase & moments
vpFeatureMomentDatabase * featureMomentsDataBase
std::vector< vpMatrix > interaction_matrices
double A
double B
double C
std::string m_name
vpColVector s
unsigned int dim_s
bool * flags
unsigned int nbParameters

Inherited functionalities from vpBasicFeature

vpBasicFeatureDeallocatorType deallocate
void resetFlags ()
unsigned int dimension_s ()
virtual vpColVector error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
vpColVector get_s (unsigned int select=FEATURE_ALL) const
vpBasicFeatureDeallocatorType getDeallocate ()
virtual double operator[] (unsigned int i) const
void setDeallocate (vpBasicFeatureDeallocatorType d)
void setFlags ()
static unsigned int selectAll ()

Inherited functionalities from vpFeatureMoment

virtual void compute_interaction (void)
vpBasicFeature * duplicate () const VP_OVERRIDE
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
int getDimension (unsigned int select=FEATURE_ALL) const
void init (void) VP_OVERRIDE
vpMatrix interaction (unsigned int select=FEATURE_ALL) VP_OVERRIDE
void linkTo (vpFeatureMomentDatabase &featureMoments)
virtual const std::string momentName () const =0
virtual const std::string name () const =0
void print (unsigned int select=FEATURE_ALL) const VP_OVERRIDE
virtual void printDependencies (std::ostream &os) const
void update (double A, double B, double C)
VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpFeatureMoment &featM)

Detailed Description

This class defines shared system methods/attributes for 2D moment features but no functional code. It is used to compute interaction matrices for moment features.

While vpMoment-type classes do only compute moment values and can by used for almost anything, vpFeatureMoment-type classes are specifically designed for visual servoing. More importantly, a vpFeatureMoment is used to compute the interaction matrix associated to it's moment primitive.

This class is virtual and cannot be used directly. It defines the following characteristics common to all moment features:

  • Plane orientation parameters (A,B,C): Each camera frame corresponds to a physical planar object contained in a plane. This plane's equation has the following form: $ A \times x+B \times y + C = \frac{1}{Z} $. These parameters can be updated anytime.
  • Get corresponding moment primitive: for example a vpFeatureMomentCInvariant will provide access to a vpMomentCInvariant instance.
  • Provide access to a feature database (vpFeatureMomentDatabase).
  • All interaction matrices (different from vpBasicFeature::interaction which selects the required interaction matrix).

Like vpMoment, vpFeatureMoment provides a vpFeatureMoment::update() method. But unlike vpMoment::update() which only acknowledges the new object, the vpFeatureMoment::update() acknowledges the new plane parameters AND computes the interaction matrices associated with the feature.

A vpFeatureMoment will be often part of a vpFeatureMomentDatabase in the same way a vpMoment is part of a vpMomentDatabase. This database is specified inside the vpFeatureMoment::vpFeatureMoment() constructor. As a result, a vpFeatureMoment will be able to access other vpFeatureMoments through this database.

A vpBasicFeature can be duplicated into a vpMomentGenericFeature. In that case, all data in the vpBasicFeature is copied but the feature's name is lost. For example if a vpFeatureMomentCInvariant is duplicated, the duplicate will be operational but could not be used in a vpFeatureMomentDatabase.

Note that you can use vpFeatureMoment to do visual servoing but it is not it's only purpose. You may compute your interaction matrices with vpFeatureMoment::update() and use them for any purpose.

Attention
- A vpFeatureMoment is not responsible for updating the moment primitives it depends on. Make sure your vpMoments are all up to date before computing an interaction matrix using vpFeatureMoment.
- Be careful with orders. Often, computing a feature of order n requires vpMoment primitives of order n+1. Make sure to check the documentation of the specialized vpFeatureMoment classes when deciding to which order you want to initialize the object. An object of order 6 should be sufficient for all classic implementations of vpFeatureMoment.

Here is an example of how to use a vpFeatureMoment (in this case vpFeatureMomentBasic).

#include <visp3/core/vpMomentBasic.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpFeatureMoment.h>
#include <visp3/visual_features/vpFeatureMomentBasic.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
vpPoint p;
std::vector<vpPoint> vec_p; // vector that contains the vertices
p.set_x(1); p.set_y(1); // coordinates in meters in the image plane (vertex 1)
vec_p.push_back(p);
p.set_x(2); p.set_y(2); // coordinates in meters in the image plane (vertex 2)
vec_p.push_back(p);
// Init object of order 3 because we need vpFeatureMomentBasic of order 2 which
// implies third-order moment primitives
vpMomentObject obj(3);
obj.setType(vpMomentObject::DISCRETE); // Discrete mode for object
obj.fromVector(vec_p);
vpMomentDatabase mdb; //database for moment primitives. This will
//only contain the basic moment.
vpMomentBasic bm; //basic moment (this particular moment is nothing
//more than a shortcut to the vpMomentObject)
bm.linkTo(mdb); //add basic moment to moment database
vpFeatureMomentBasic fmb(mdb,0,0,1,nullptr);
//update and compute the vpMoment BEFORE doing any operations with vpFeatureMoment
bm.update(obj);
bm.compute();
fmb.update(0,0,1); //update the vpFeatureMoment with a plane
//configuration
std::cout << fmb.interaction(1,1) << std::endl;
}
vpFeatureMomentBasic
Functionality computation for basic moment feature. Computes the interaction matrix associated with v...
Definition vpFeatureMomentBasic.h:78
vpMomentBasic
This class defines the 2D basic moment . This class is a wrapper for vpMomentObject which allows to u...
Definition vpMomentBasic.h:73
vpMomentBasic::compute
void compute() VP_OVERRIDE
Definition vpMomentBasic.cpp:64
vpMomentDatabase
This class allows to register all vpMoments so they can access each other according to their dependen...
Definition vpMomentDatabase.h:133
vpMomentObject
Class for generic objects.
Definition vpMomentObject.h:225
vpMoment::linkTo
void linkTo(vpMomentDatabase &moments)
Definition vpMoment.cpp:114
vpMoment::update
void update(vpMomentObject &object)
Definition vpMoment.cpp:127
vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:79
VISP_NAMESPACE_NAME
Definition vpEigenConversion.h:44

Definition at line 161 of file vpFeatureMoment.h.

Member Enumeration Documentation

◆ vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType
inherited

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 86 of file vpBasicFeature.h.

◆ vpBasicFeatureSelect

enum vpBasicFeature::vpBasicFeatureSelect
inherited
Enumerator
FEATURE_ALL 

Definition at line 81 of file vpBasicFeature.h.

Constructor & Destructor Documentation

◆ vpFeatureMoment() [1/2]

vpFeatureMoment::vpFeatureMoment ( const vpFeatureMoment & )
protecteddelete

References vpFeatureMoment().

Referenced by duplicate(), name(), operator<<, operator=(), vpFeatureMoment(), vpFeatureMomentAlpha::vpFeatureMomentAlpha(), vpFeatureMomentArea::vpFeatureMomentArea(), vpFeatureMomentAreaNormalized::vpFeatureMomentAreaNormalized(), vpFeatureMomentBasic::vpFeatureMomentBasic(), vpFeatureMomentCentered::vpFeatureMomentCentered(), vpFeatureMomentCInvariant::vpFeatureMomentCInvariant(), vpFeatureMomentGravityCenter::vpFeatureMomentGravityCenter(), vpFeatureMomentGravityCenterNormalized::vpFeatureMomentGravityCenterNormalized(), and vpMomentGenericFeature::vpMomentGenericFeature().

◆ vpFeatureMoment() [2/2]

vpFeatureMoment::vpFeatureMoment ( vpMomentDatabase & data_base,
double A_ = 0.0,
double B_ = 0.0,
double C_ = 0.0,
vpFeatureMomentDatabase * featureMoments = nullptr,
unsigned int nbmatrices = 1 )
inline

Initializes the feature with information about the database of moment primitives, the object plane, feature database and matrix size.

Parameters
data_base: Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
A_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
B_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
C_: Plane coefficient in a $ A \times x+B \times y + C = \frac{1}{Z} $ plane.
featureMoments: Feature database
nbmatrices: If you want to create a new vpFeatureMoment implementation, your feature will often have a matrix size of n lines. You can specify the number of lines by this parameter.

Definition at line 212 of file vpFeatureMoment.h.

References A, B, C, featureMomentsDataBase, interaction_matrices, m_name, moment, moments, and vpBasicFeature::vpBasicFeature().

Member Function Documentation

◆ compute_interaction()

void vpFeatureMoment::compute_interaction ( void )
virtual

Reimplemented in vpFeatureMomentAlpha, vpFeatureMomentArea, vpFeatureMomentAreaNormalized, vpFeatureMomentBasic, vpFeatureMomentCentered, vpFeatureMomentCInvariant, vpFeatureMomentGravityCenter, and vpFeatureMomentGravityCenterNormalized.

Definition at line 250 of file vpFeatureMoment.cpp.

Referenced by update().

◆ dimension_s()

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

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

Definition at line 108 of file vpBasicFeature.h.

References dim_s.

◆ display() [1/2]

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

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 110 of file vpFeatureMoment.cpp.

◆ display() [2/2]

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

Not implemented since visual representation of a moment doesn't often make sense.

Implements vpBasicFeature.

Definition at line 123 of file vpFeatureMoment.cpp.

◆ duplicate()

vpBasicFeature * vpFeatureMoment::duplicate ( ) const
virtual

Duplicates the feature into a vpGenericFeature harbouring the same properties. The resulting feature is of vpMomentGenericFeature type. While it still can compute interaction matrices and has access to it's moment primitive, it has lost all precise information about its precise type and therefore cannot be used in a feature database.

Returns
The corresponding feature.

Implements vpBasicFeature.

Definition at line 217 of file vpFeatureMoment.cpp.

References A, B, C, vpBasicFeature::dim_s, featureMomentsDataBase, vpBasicFeature::flags, interaction_matrices, moment, moments, vpBasicFeature::nbParameters, vpColVector::resize(), vpBasicFeature::s, vpBasicFeature::vpBasicFeature(), and vpFeatureMoment().

◆ error()

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

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

Reimplemented in vpFeatureDepth, vpFeatureEllipse, vpFeatureLine, vpFeatureLuminance, vpFeatureLuminanceMapping, vpFeatureMomentAlpha, vpFeaturePoint3D, vpFeaturePoint, vpFeaturePointPolar, vpFeatureSegment, vpFeatureThetaU, vpFeatureTranslation, vpFeatureVanishingPoint, and vpGenericFeature.

Examples
manServoMomentsSimple.cpp.

Definition at line 150 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, get_s(), s, and vpBasicFeature().

Referenced by vpServo::computeError(), and init().

◆ get_s()

vpColVector vpBasicFeature::get_s ( unsigned int select = FEATURE_ALL) const
inherited

Get the feature vector $\bf s$.

Examples
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 113 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, and s.

Referenced by vpServo::computeError(), error(), vpFeatureDepth::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpGenericFeature::error(), and init().

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 121 of file vpBasicFeature.h.

References deallocate.

◆ getDimension()

int vpFeatureMoment::getDimension ( unsigned int select = FEATURE_ALL) const

Feature's dimension according to selection.

Definition at line 81 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, and vpBasicFeature::FEATURE_LINE.

Referenced by operator<<.

◆ getMoment()

const vpMoment & vpFeatureMoment::getMoment ( ) const
inlineprotected

Definition at line 165 of file vpFeatureMoment.h.

References moment.

◆ init()

void vpFeatureMoment::init ( void )
virtual

Initialize common parameters for moment features.

Implements vpBasicFeature.

Definition at line 52 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, moment, vpBasicFeature::nbParameters, and vpBasicFeature::s.

◆ interaction()

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

Retrieves the interaction matrix. No computation is done.

Parameters
select: Feature selector.
Returns
The corresponding interaction matrix.

There is no rule about the format of the feature selector. It may be different for different features. For example, for vpFeatureMomentBasic or vpFeatureMomentCentered features, select may refer to the $ (i,j) $ couple in the $ j \times order + i $ format, but for vpFeatureMomentCInvariant the selector allows to select couples $ (i,j,k,l...) $ in the following format: 1 << i

  • 1 << j + 1 << k + 1 << l.

Implements vpBasicFeature.

Definition at line 195 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and interaction_matrices.

Referenced by vpFeatureMomentCentered::compute_interaction().

◆ linkTo()

void vpFeatureMoment::linkTo ( vpFeatureMomentDatabase & featureMoments)

Links the feature to the feature's database.

Note
The feature's database is different from the moment's database.
Parameters
featureMoments: database in which the moment features are stored.

Definition at line 242 of file vpFeatureMoment.cpp.

References featureMomentsDataBase, m_name, and name().

◆ momentName()

virtual const std::string vpFeatureMoment::momentName ( ) const
pure virtual

Name of the moment corresponding to the feature. This allows to locate the moment associated with the feature in the provided database.

Implemented in vpFeatureMomentAlpha, vpFeatureMomentArea, vpFeatureMomentAreaNormalized, vpFeatureMomentBasic, vpFeatureMomentCentered, vpFeatureMomentCInvariant, vpFeatureMomentGravityCenter, vpFeatureMomentGravityCenterNormalized, and vpMomentGenericFeature.

References momentName().

Referenced by momentName(), and update().

◆ name()

virtual const std::string vpFeatureMoment::name ( ) const
pure virtual

Name of the feature used to locate it in the database of features.

Implemented in vpFeatureMomentAlpha, vpFeatureMomentArea, vpFeatureMomentAreaNormalized, vpFeatureMomentBasic, vpFeatureMomentCentered, vpFeatureMomentCInvariant, vpFeatureMomentGravityCenter, vpFeatureMomentGravityCenterNormalized, and vpMomentGenericFeature.

References A, B, C, vpBasicFeature::FEATURE_ALL, name(), print(), printDependencies(), update(), and vpFeatureMoment().

Referenced by linkTo(), and name().

◆ operator=()

vpFeatureMoment & vpFeatureMoment::operator= ( const vpFeatureMoment & )
protecteddelete

References vpFeatureMoment().

◆ operator[]()

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

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

Definition at line 128 of file vpBasicFeature.h.

References s.

◆ print()

void vpFeatureMoment::print ( unsigned int select = FEATURE_ALL) const
virtual

Outputs the content of the feature: it's corresponding selected moments.

Implements vpBasicFeature.

Definition at line 95 of file vpFeatureMoment.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, and vpBasicFeature::s.

Referenced by name().

◆ printDependencies()

void vpFeatureMoment::printDependencies ( std::ostream & os) const
virtual

Interface function to display the moments and other interaction matrices on which a particular vpFeatureMoment is dependent upon Not made pure to maintain compatibility Recommended : Types inheriting from vpFeatureMoment should implement this function.

Definition at line 259 of file vpFeatureMoment.cpp.

Referenced by name().

◆ resetFlags()

void vpBasicFeature::resetFlags ( )
protectedinherited

Definition at line 130 of file vpBasicFeature.cpp.

References flags, and nbParameters.

Referenced by vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePoint::interaction(), vpFeaturePointPolar::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), and vpFeatureVanishingPoint::interaction().

◆ selectAll()

unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Examples
testPoint.cpp.

Definition at line 140 of file vpBasicFeature.h.

References FEATURE_ALL.

◆ setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType d)
inlineinherited

Definition at line 135 of file vpBasicFeature.h.

References deallocate.

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 140 of file vpBasicFeature.cpp.

References flags, and nbParameters.

◆ update()

void vpFeatureMoment::update ( double A_,
double B_,
double C_ )

Updates the interaction matrices with the image plane the camera is facing. The plane must be in the format: $ \frac{1}{Z}=Ax+By+C $ . The moment primitives MUST be updated before calling this function.

This method also computes the interaction matrix. Therefore, you must call vpFeatureMoment::update before calling vpFeatureMoment::interaction.

Attention
The behaviour of this method is not the same as vpMoment::update which only acknowledges the new object. This method also computes the interaction matrices.
Parameters
A_: A coefficient of the plane.
B_: B coefficient of the plane.
C_: C coefficient of the plane.

Definition at line 148 of file vpFeatureMoment.cpp.

References A, B, C, compute_interaction(), vpBasicFeature::dim_s, vpBasicFeature::flags, moment, momentName(), moments, vpBasicFeature::nbParameters, vpException::notInitialized, and vpBasicFeature::s.

Referenced by name().

◆ operator<<

VISP_EXPORT std::ostream & operator<< ( std::ostream & os,
const vpFeatureMoment & featM )
friend

Definition at line 267 of file vpFeatureMoment.cpp.

References vpBasicFeature::FEATURE_ALL, getDimension(), vpBasicFeature::interaction(), vpMatrix::matlabPrint(), operator<<, and vpFeatureMoment().

Referenced by operator<<.

Member Data Documentation

◆ A

double vpFeatureMoment::A
protected

Definition at line 170 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), name(), update(), and vpFeatureMoment().

◆ B

double vpFeatureMoment::B
protected

Definition at line 171 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), name(), update(), and vpFeatureMoment().

◆ C

double vpFeatureMoment::C
protected

Definition at line 172 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), name(), update(), and vpFeatureMoment().

◆ deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate
protectedinherited

Definition at line 146 of file vpBasicFeature.h.

Referenced by getDeallocate(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePoint::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureVanishingPoint::interaction(), operator=(), setDeallocate(), vpBasicFeature(), and vpBasicFeature().

◆ dim_s

unsigned int vpBasicFeature::dim_s
protectedinherited

Dimension of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by dimension_s(), vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), error(), vpFeatureLuminance::error(), vpFeatureLuminanceMapping::error(), vpFeatureLuminanceMapping::error(), vpGenericFeature::error(), vpGenericFeature::error(), get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeatureLuminanceMapping::init(), vpFeatureLuminanceMapping::init(), vpFeatureLuminanceMapping::init(), vpFeatureMoment::init(), vpFeaturePoint3D::init(), vpFeaturePoint::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::interaction(), vpFeatureLuminanceMapping::interaction(), vpFeatureLuminanceMapping::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpBasicFeature(), vpBasicFeature(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().

◆ FEATURE_LINE

BEGIN_VISP_NAMESPACE const unsigned int vpBasicFeature::FEATURE_LINE
staticinherited
Initial value:
= {
static_cast<unsigned int>(1 << 0), static_cast<unsigned int>(1 << 1), static_cast<unsigned int>(1 << 2), static_cast<unsigned int>(1 << 3),
static_cast<unsigned int>(1 << 4), static_cast<unsigned int>(1 << 5), static_cast<unsigned int>(1 << 6), static_cast<unsigned int>(1 << 7),
static_cast<unsigned int>(1 << 8), static_cast<unsigned int>(1 << 9), static_cast<unsigned int>(1 << 10), static_cast<unsigned int>(1 << 11),
static_cast<unsigned int>(1 << 12), static_cast<unsigned int>(1 << 13), static_cast<unsigned int>(1 << 14), static_cast<unsigned int>(1 << 15),
static_cast<unsigned int>(1 << 16), static_cast<unsigned int>(1 << 17), static_cast<unsigned int>(1 << 18), static_cast<unsigned int>(1 << 19),
static_cast<unsigned int>(1 << 20), static_cast<unsigned int>(1 << 21), static_cast<unsigned int>(1 << 22), static_cast<unsigned int>(1 << 23),
static_cast<unsigned int>(1 << 24), static_cast<unsigned int>(1 << 25), static_cast<unsigned int>(1 << 26), static_cast<unsigned int>(1 << 27),
static_cast<unsigned int>(1 << 28), static_cast<unsigned int>(1 << 29), static_cast<unsigned int>(1 << 30), static_cast<unsigned int>(1 << 31) }

Definition at line 45 of file vpBasicFeature.h.

Referenced by error(), vpGenericFeature::error(), vpGenericFeature::error(), get_s(), getDimension(), vpFeatureMoment::getDimension(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureMoment::print(), vpGenericFeature::print(), vpFeatureEllipse::select_n02(), vpFeatureEllipse::select_n11(), vpFeatureEllipse::select_n20(), vpFeatureSegment::selectAlpha(), vpFeatureVanishingPoint::selectAlpha(), vpFeatureVanishingPoint::selectAtanOneOverRho(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureVanishingPoint::selectOneOverRho(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeaturePoint3D::selectX(), vpFeaturePoint::selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint3D::selectY(), vpFeaturePoint::selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

◆ featureMomentsDataBase

vpFeatureMomentDatabase* vpFeatureMoment::featureMomentsDataBase
protected

Definition at line 167 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), duplicate(), linkTo(), and vpFeatureMoment().

◆ flags

bool* vpBasicFeature::flags
protectedinherited

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

Definition at line 96 of file vpBasicFeature.h.

Referenced by vpFeatureDepth::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureLine::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeaturePoint3D::init(), vpFeaturePoint::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePoint::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureVanishingPoint::interaction(), operator=(), resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeaturePoint3D::set_X(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint3D::set_XYZ(), vpFeaturePoint::set_xyZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeaturePoint3D::set_Y(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpFeatureSegment::setAlpha(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), setFlags(), vpFeatureSegment::setL(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureSegment::setXc(), vpFeatureSegment::setYc(), vpFeatureSegment::setZ1(), vpFeatureSegment::setZ2(), vpFeatureMoment::update(), vpBasicFeature(), vpBasicFeature(), vpFeatureLuminance::vpFeatureLuminance(), and ~vpBasicFeature().

◆ interaction_matrices

std::vector<vpMatrix> vpFeatureMoment::interaction_matrices
protected

Definition at line 168 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), interaction(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), vpFeatureMomentCInvariant::operator<<, and vpFeatureMoment().

◆ m_name

std::string vpFeatureMoment::m_name
protected

Definition at line 173 of file vpFeatureMoment.h.

Referenced by linkTo(), and vpFeatureMoment().

◆ moment

const vpMoment* vpFeatureMoment::moment
protected

Definition at line 164 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentBasic::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), getMoment(), init(), vpFeatureMomentBasic::interaction(), vpFeatureMomentCentered::interaction(), update(), and vpFeatureMoment().

◆ moments

vpMomentDatabase& vpFeatureMoment::moments
protected

Definition at line 166 of file vpFeatureMoment.h.

Referenced by vpFeatureMomentAlpha::compute_interaction(), vpFeatureMomentArea::compute_interaction(), vpFeatureMomentAreaNormalized::compute_interaction(), vpFeatureMomentCentered::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), vpFeatureMomentGravityCenter::compute_interaction(), vpFeatureMomentGravityCenterNormalized::compute_interaction(), duplicate(), update(), and vpFeatureMoment().

◆ nbParameters

unsigned int vpBasicFeature::nbParameters
protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureDepth::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeaturePoint3D::init(), vpFeaturePoint::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePoint::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpFeatureVanishingPoint::interaction(), operator=(), resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint3D::set_XYZ(), vpFeaturePoint::set_xyZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), setFlags(), vpFeatureMoment::update(), vpBasicFeature(), vpBasicFeature(), and vpFeatureLuminance::vpFeatureLuminance().

◆ s

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 90 of file vpBasicFeature.h.

Referenced by vpFeatureDepth::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureLine::buildFrom(), vpFeatureLine::buildFrom(), vpFeatureLuminance::buildFrom(), vpFeatureLuminanceMapping::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureEllipse::display(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureLuminance::error(), vpFeatureLuminanceMapping::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint3D::error(), vpFeaturePoint::error(), vpFeaturePointPolar::error(), vpFeatureThetaU::error(), vpFeatureTranslation::error(), vpFeatureVanishingPoint::error(), vpGenericFeature::error(), vpGenericFeature::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeatureEllipse::get_n02(), vpFeatureEllipse::get_n11(), vpFeatureEllipse::get_n20(), vpFeaturePointPolar::get_rho(), get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpGenericFeature::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(), vpFeaturePoint3D::get_X(), vpFeatureEllipse::get_x(), vpFeaturePoint::get_x(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint3D::get_Y(), vpFeatureEllipse::get_y(), vpFeaturePoint::get_y(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint3D::get_Z(), vpFeatureSegment::getAlpha(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), getDimension(), vpFeatureSegment::getL(), vpFeatureEllipse::getMu02(), vpFeatureEllipse::getMu11(), vpFeatureEllipse::getMu20(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureSegment::getXc(), vpFeatureSegment::getYc(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeatureLuminanceMapping::init(), vpFeatureLuminanceMapping::init(), vpFeatureMoment::init(), vpFeaturePoint3D::init(), vpFeaturePoint::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), vpFeatureThetaU::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureLuminanceMapping::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), operator=(), vpFeatureLuminance::operator=(), vpFeatureLuminanceMapping::operator=(), 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(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureTranslation::set_Tx(), vpFeatureTranslation::set_Ty(), vpFeatureTranslation::set_Tz(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint3D::set_Y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint3D::set_Z(), vpFeatureSegment::setAlpha(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpFeatureSegment::setL(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureSegment::setXc(), vpFeatureSegment::setYc(), vpFeatureMoment::update(), vpBasicFeature(), vpBasicFeature(), and vpGenericFeature::vpGenericFeature().