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

#include <vpFeatureVanishingPoint.h>

Inheritance diagram for vpFeatureVanishingPoint:

Public Types

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

Public Member Functions

 vpFeatureVanishingPoint ()
vpFeatureVanishingPoint & buildFrom (const double &x, const double &y)
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const VP_OVERRIDE
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const VP_OVERRIDE
vpFeatureVanishingPoint * duplicate () const VP_OVERRIDE
vpColVector error (const vpBasicFeature &s_star, unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) VP_OVERRIDE
double get_x () const
double get_y () const
double getAtanOneOverRho () const
double getOneOverRho () const
double getAlpha () const
void init () VP_OVERRIDE
vpMatrix interaction (unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) VP_OVERRIDE
void print (unsigned int select=(vpFeatureVanishingPoint::selectX()|vpFeatureVanishingPoint::selectY())) const VP_OVERRIDE
void set_x (double x)
void set_y (double y)
void set_xy (double x, double y)
void setAtanOneOverRho (double atan_one_over_rho)
void setOneOverRho (double one_over_rho)
void setAlpha (double alpha)

Static Public Member Functions

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

Static Public Attributes

static const unsigned int FEATURE_LINE [32]

Protected Attributes

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

Inherited functionalities from vpBasicFeature

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

Detailed Description

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

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

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

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

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

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

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

    The corresponding interaction matrices are:

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

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

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

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 72 of file vpFeatureVanishingPoint.h.

Member Enumeration Documentation

◆ vpBasicFeatureDeallocatorType

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

◆ vpFeatureVanishingPoint()

vpFeatureVanishingPoint::vpFeatureVanishingPoint ( )

Default constructor that calls init().

Definition at line 76 of file vpFeatureVanishingPoint.cpp.

References init().

Referenced by buildFrom(), and duplicate().

Member Function Documentation

◆ buildFrom()

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

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

Definition at line 348 of file vpFeatureVanishingPoint.cpp.

References set_xy(), and vpFeatureVanishingPoint().

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

Display vanishing point feature.

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

Implements vpBasicFeature.

Definition at line 362 of file vpFeatureVanishingPoint.cpp.

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

◆ display() [2/2]

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

Display vanishing point feature.

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

Implements vpBasicFeature.

Definition at line 396 of file vpFeatureVanishingPoint.cpp.

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

◆ duplicate()

vpFeatureVanishingPoint * vpFeatureVanishingPoint::duplicate ( ) const
virtual

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

Implements vpBasicFeature.

Definition at line 425 of file vpFeatureVanishingPoint.cpp.

References vpFeatureVanishingPoint().

◆ error()

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

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

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

Reimplemented from vpBasicFeature.

Definition at line 273 of file vpFeatureVanishingPoint.cpp.

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

◆ 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().

◆ get_x()

double vpFeatureVanishingPoint::get_x ( ) const

Get vanishing point feature $ x $ value.

Definition at line 87 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ get_y()

double vpFeatureVanishingPoint::get_y ( ) const

Get vanishing point feature $ y $ value.

Definition at line 98 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ getAlpha()

double vpFeatureVanishingPoint::getAlpha ( ) const

Get vanishing point feature $ \alpha $ value.

Definition at line 139 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ getAtanOneOverRho()

double vpFeatureVanishingPoint::getAtanOneOverRho ( ) const

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

Definition at line 128 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 121 of file vpBasicFeature.h.

References deallocate.

◆ getDimension()

unsigned int vpBasicFeature::getDimension ( unsigned int select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 100 of file vpBasicFeature.cpp.

References dim_s, FEATURE_LINE, and s.

◆ getOneOverRho()

double vpFeatureVanishingPoint::getOneOverRho ( ) const

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

Definition at line 125 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::s.

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

◆ init()

BEGIN_VISP_NAMESPACE void vpFeatureVanishingPoint::init ( void )
virtual

Vanishing point visual feature initialization.

Implements vpBasicFeature.

Definition at line 60 of file vpFeatureVanishingPoint.cpp.

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

Referenced by vpFeatureVanishingPoint().

◆ interaction()

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

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

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

Implements vpBasicFeature.

Definition at line 149 of file vpFeatureVanishingPoint.cpp.

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

◆ 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 vpFeatureVanishingPoint::print ( unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY())) const
virtual

Print vanishing point features values to stdout.

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

Implements vpBasicFeature.

Definition at line 328 of file vpFeatureVanishingPoint.cpp.

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

◆ 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.

◆ selectAlpha()

unsigned int vpFeatureVanishingPoint::selectAlpha ( )
static

Select $ s = \theta $ visual feature.

Definition at line 450 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

◆ selectAtanOneOverRho()

unsigned int vpFeatureVanishingPoint::selectAtanOneOverRho ( )
static

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

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 445 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

◆ selectOneOverRho()

unsigned int vpFeatureVanishingPoint::selectOneOverRho ( )
static

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

Definition at line 440 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

◆ selectX()

unsigned int vpFeatureVanishingPoint::selectX ( )
static

Select visual feature $ s = x $.

Definition at line 432 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

◆ selectY()

unsigned int vpFeatureVanishingPoint::selectY ( )
static

Select visual feature $ s = y $.

Definition at line 435 of file vpFeatureVanishingPoint.cpp.

References vpBasicFeature::FEATURE_LINE.

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

◆ set_x()

void vpFeatureVanishingPoint::set_x ( double x)

Set vanishing point feature $ x $ value.

Definition at line 79 of file vpFeatureVanishingPoint.cpp.

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

Referenced by set_xy().

◆ set_xy()

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

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

Definition at line 101 of file vpFeatureVanishingPoint.cpp.

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

Referenced by buildFrom().

◆ set_y()

void vpFeatureVanishingPoint::set_y ( double y)

Set vanishing point feature $ y $ value.

Definition at line 90 of file vpFeatureVanishingPoint.cpp.

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

Referenced by set_xy().

◆ setAlpha()

void vpFeatureVanishingPoint::setAlpha ( double alpha)

Set vanishing point feature $ \alpha $ value.

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 131 of file vpFeatureVanishingPoint.cpp.

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

◆ setAtanOneOverRho()

void vpFeatureVanishingPoint::setAtanOneOverRho ( double atan_one_over_rho)

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

Examples
servoBebop2.cpp, and servoPixhawkDroneIBVS.cpp.

Definition at line 117 of file vpFeatureVanishingPoint.cpp.

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

◆ 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.

◆ setOneOverRho()

void vpFeatureVanishingPoint::setOneOverRho ( double one_over_rho)

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

Definition at line 109 of file vpFeatureVanishingPoint.cpp.

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

Member Data Documentation

◆ 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().

◆ 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().

◆ m_select

unsigned int vpFeatureVanishingPoint::m_select
protected

Definition at line 111 of file vpFeatureVanishingPoint.h.

Referenced by display(), display(), init(), set_x(), set_xy(), set_y(), setAlpha(), setAtanOneOverRho(), and setOneOverRho().

◆ 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().