Visual Servoing Platform version 3.7.0
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vpFeatureMomentCentered Class Reference
visual_features: Visual features module » Visual features

#include <vpFeatureMomentCentered.h>

Inheritance diagram for vpFeatureMomentCentered:

Public Types

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

Public Member Functions

 vpFeatureMomentCentered (vpMomentDatabase &moments, double A, double B, double C, vpFeatureMomentDatabase *featureMoments=nullptr)
void compute_interaction () VP_OVERRIDE
vpMatrix interaction (unsigned int select_one, unsigned int select_two) const
const std::string momentName () const VP_OVERRIDE
const std::string name () const VP_OVERRIDE
Inherited functionalities from vpFeatureMoment
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)
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)

Static Public Attributes

static const unsigned int FEATURE_LINE [32]

Protected Member Functions

vpMatrix compute_Lmu_pq (const unsigned int &p, const unsigned int &q, const double &xg, const double &yg, const vpMatrix &L_xg, const vpMatrix &L_yg, const vpMomentBasic &m, const vpFeatureMomentBasic &feature_moment_m) const
const vpMoment & getMoment () const

Protected Attributes

unsigned int order
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

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpFeatureMomentCentered &v)

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 ()

Detailed Description

Functionality computation for centered moment feature. Computes the interaction matrix associated with vpMomentCentered.

The interaction matrix for the feature is defined in [54], equation (17). This vpFeatureMoment, as well as it's corresponding moment primitive is double-indexed. The interaction matrix $ L_{\mu_{ij}} $ is obtained by calling vpFeatureMomentBasic::interaction (i,j) and is associated to $ \mu_{ij} $ obtained by vpFeatureMomentCentered::get (i,j).

vpFeatureMomentCentered computes interaction matrices all interaction matrices up to vpMomentObject::getOrder()-1.

Attention
The maximum order reached by vpFeatureMomentBasic is NOT the maximum order of the vpMomentObject, it is one unit smaller. For example if you define your vpMomentObject up to order n then vpFeatureMomentBasic will be able to compute interaction matrices up to order n-1 that is $ L_{m_{ij}} $ with $ i+j<=n-1 $.

This feature depends on:

Definition at line 77 of file vpFeatureMomentCentered.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

◆ vpFeatureMomentCentered()

BEGIN_VISP_NAMESPACE vpFeatureMomentCentered::vpFeatureMomentCentered ( vpMomentDatabase & moments_,
double A_,
double B_,
double C_,
vpFeatureMomentDatabase * featureMoments = nullptr )

Default constructor.

Parameters
moments_: Database of moment primitives.
A_: First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
B_: Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
C_: Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
featureMoments: Database of features.

Definition at line 56 of file vpFeatureMomentCentered.cpp.

References order, and vpFeatureMoment::vpFeatureMoment().

Referenced by operator<<.

Member Function Documentation

◆ compute_interaction()

void vpFeatureMomentCentered::compute_interaction ( void )
virtual

Interface to the interaction matrix computation for centered moments. Called internally. Calls compute_Lmu_pq() for main computation moments (upto order-1)

Dependencies to moment classes:

Dependencies to interaction matrix classes:

Reimplemented from vpFeatureMoment.

Definition at line 139 of file vpFeatureMomentCentered.cpp.

References vpFeatureMoment::A, vpFeatureMoment::B, vpFeatureMoment::C, compute_Lmu_pq(), vpMomentObject::DISCRETE, vpFeatureMoment::featureMomentsDataBase, vpMomentCentered::get(), vpMomentGravityCenter::get(), vpMomentObject::get(), vpMomentObject::getOrder(), vpMomentObject::getType(), vpMomentGravityCenter::getXg(), vpMomentGravityCenter::getYg(), vpFeatureMoment::interaction(), vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, vpFeatureMoment::moments, vpException::notInitialized, and order.

◆ compute_Lmu_pq()

vpMatrix vpFeatureMomentCentered::compute_Lmu_pq ( const unsigned int & p,
const unsigned int & q,
const double & xg,
const double & yg,
const vpMatrix & L_xg,
const vpMatrix & L_yg,
const vpMomentBasic & m,
const vpFeatureMomentBasic & feature_moment_m ) const
protected

Core computation of interaction matrix for moment m_pq.

Core function for the interaction matrix computation for moment m_pq Given its dependent moment and interaction matrices, computes the interaction matrix of centred moments.

Definition at line 81 of file vpFeatureMomentCentered.cpp.

References vpMath::comb(), vpMomentBasic::get(), and vpFeatureMomentBasic::interaction().

Referenced by compute_interaction().

◆ 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
virtualinherited

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
virtualinherited

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
virtualinherited

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
inherited

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
inlineprotectedinherited

Definition at line 165 of file vpFeatureMoment.h.

References moment.

◆ init()

void vpFeatureMoment::init ( void )
virtualinherited

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() [1/2]

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

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().

◆ interaction() [2/2]

vpMatrix vpFeatureMomentCentered::interaction ( unsigned int select_one,
unsigned int select_two ) const

Interaction matrix corresponding to $ \mu_{ij} $ moment.

Parameters
select_one: first index (i).
select_two: second index (j).
Returns
Interaction matrix corresponding to the moment.

Definition at line 67 of file vpFeatureMomentCentered.cpp.

References vpException::badValue, vpFeatureMoment::interaction_matrices, vpFeatureMoment::moment, and order.

Referenced by vpFeatureMomentArea::compute_interaction(), vpFeatureMomentCInvariant::compute_interaction(), and operator<<.

◆ linkTo()

void vpFeatureMoment::linkTo ( vpFeatureMomentDatabase & featureMoments)
inherited

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()

const std::string vpFeatureMomentCentered::momentName ( ) const
inlinevirtual

Associated moment name

Implements vpFeatureMoment.

Definition at line 107 of file vpFeatureMomentCentered.h.

◆ name()

const std::string vpFeatureMomentCentered::name ( ) const
inlinevirtual

Feature name

Implements vpFeatureMoment.

Definition at line 115 of file vpFeatureMomentCentered.h.

◆ 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
virtualinherited

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
virtualinherited

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_ )
inherited

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<<

std::ostream & operator<< ( std::ostream & os,
const vpFeatureMomentCentered & mu )
friend

Print all the interaction matrices of visual features

Definition at line 324 of file vpFeatureMomentCentered.cpp.

References interaction(), vpMatrix::matlabPrint(), operator<<, order, vpFeatureMomentCentered(), and vpTRACE.

Referenced by operator<<.

Member Data Documentation

◆ A

double vpFeatureMoment::A
protectedinherited

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
protectedinherited

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
protectedinherited

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
protectedinherited

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
protectedinherited

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
protectedinherited

Definition at line 173 of file vpFeatureMoment.h.

Referenced by linkTo(), and vpFeatureMoment().

◆ moment

const vpMoment* vpFeatureMoment::moment
protectedinherited

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
protectedinherited

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().

◆ order

unsigned int vpFeatureMomentCentered::order
protected

Definition at line 80 of file vpFeatureMomentCentered.h.

Referenced by compute_interaction(), interaction(), operator<<, and vpFeatureMomentCentered().

◆ 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().