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Visual Servoing Platform version 3.6.0
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#include <vpFeatureThetaU.h>
Public Types | |
enum | vpFeatureThetaUType { TUx = 1 , TUy = 2 , TUz = 4 } |
enum | vpFeatureThetaURotationRepresentationType { cdRc , cRcd } |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user , vpServo } |
Static Public Member Functions | |
static unsigned int | selectTUx () |
static unsigned int | selectTUy () |
static unsigned int | selectTUz () |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Attributes | |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
Inherited functionalities from vpBasicFeature | |
unsigned int | dimension_s () |
vpColVector | get_s (unsigned int select=FEATURE_ALL) const |
vpBasicFeatureDeallocatorType | getDeallocate () |
unsigned int | getDimension (unsigned int select=FEATURE_ALL) const |
virtual double | operator[] (unsigned int i) const |
void | setDeallocate (vpBasicFeatureDeallocatorType d) |
void | setFlags () |
static unsigned int | selectAll () |
vpBasicFeatureDeallocatorType | deallocate |
void | resetFlags () |
Class that defines a 3D visual feature
Let us denote
It is convenient to consider two coordinate frames: the current camera frame
Let
Furthermore, let
This class can be used to manipulate two kind of visual features:
The kind of visual feature is to set during the construction of the vpFeatureThetaU() object by using the selector vpFeatureThetaU::vpFeatureThetaURotationRepresentationType.
To initialize the feature
Depending on the choice of the visual feature representation, the interaction() method allows to compute the interaction matrix
To know more on the
The code below shows how to create a eye-in hand visual servoing task using a 3D
If you want to deal only with the
If you want to build your own control law, this other example shows how to create a current (
Definition at line 220 of file vpFeatureThetaU.h.
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inherited |
Enumerator | |
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FEATURE_ALL |
Definition at line 81 of file vpBasicFeature.h.
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inherited |
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 87 of file vpBasicFeature.h.
Definition at line 231 of file vpFeatureThetaU.h.
Definition at line 223 of file vpFeatureThetaU.h.
vpFeatureThetaU::vpFeatureThetaU | ( | ) |
Constructor that builds a visual feature and initialize it to zero. The rotation representation of the
Definition at line 84 of file vpFeatureThetaU.cpp.
References init().
Referenced by duplicate().
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explicit |
Constructor that builds a visual feature and initialize it to zero.
r | [in] : The rotation representation of the ![]() |
Definition at line 97 of file vpFeatureThetaU.cpp.
References init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpThetaUVector & | tu, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D visual feature from a
tu | [in] : Rotation that the camera has to achieve in ![]() ![]() ![]() |
r | [in] : The rotation representation of ![]() |
Definition at line 125 of file vpFeatureThetaU.cpp.
References buildFrom(), and init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpRotationMatrix & | R, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D
R | [in] : Rotation that the camera has to achieve. Depending on r this rotation represent either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ![]() ![]() |
r | [in] : The rotation representation of R. |
Definition at line 149 of file vpFeatureThetaU.cpp.
References buildFrom(), and init().
vpFeatureThetaU::vpFeatureThetaU | ( | vpHomogeneousMatrix & | M, |
vpFeatureThetaURotationRepresentationType | r | ||
) |
Constructor that build a 3D
M | [in] : Homogeneous transformation that describe the movement that the camera has to achieve. Only the rotational part of this homogeneous transformation is taken into consideration. Depending on r the rotation represent either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ![]() ![]() |
r | [in] : The rotation representation of M. |
Definition at line 176 of file vpFeatureThetaU.cpp.
References buildFrom(), vpHomogeneousMatrix::extract(), and init().
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inlinevirtual |
Destructor. Does nothing.
Definition at line 254 of file vpFeatureThetaU.h.
void vpFeatureThetaU::buildFrom | ( | const vpHomogeneousMatrix & | M | ) |
Build a 3D
M | [in] : Homogeneous transformation that describe the movement that the camera has to achieve. Only the rotational part of this homogeneous transformation is taken into consideration. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter M represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ![]() ![]() |
Definition at line 249 of file vpFeatureThetaU.cpp.
References buildFrom(), and vpHomogeneousMatrix::extract().
void vpFeatureThetaU::buildFrom | ( | const vpRotationMatrix & | R | ) |
Build a 3D
R | [in] : Rotation that the camera has to achieve. Depending on the rotation representation type (vpFeatureThetaU::vpFeatureThetaURotationRepresentationType) used to construct this object, the parameter R represents either the rotation that the camera has to achieve to move from the desired camera frame to the current one ( ![]() ![]() |
Definition at line 225 of file vpFeatureThetaU.cpp.
References buildFrom().
void vpFeatureThetaU::buildFrom | ( | vpThetaUVector & | tu | ) |
Build a 3D visual feature from a
tu | [in] : Rotation that the camera has to achieve in ![]() ![]() ![]() |
Definition at line 201 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, vpBasicFeature::nbParameters, and vpBasicFeature::s.
Referenced by buildFrom(), buildFrom(), vpFeatureThetaU(), vpFeatureThetaU(), and vpFeatureThetaU().
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inlineinherited |
Return the dimension of the feature vector
Definition at line 109 of file vpBasicFeature.h.
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virtual |
Not implemented.
Implements vpBasicFeature.
Definition at line 661 of file vpFeatureThetaU.cpp.
References vpERROR_TRACE.
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virtual |
Not implemented.
Implements vpBasicFeature.
Definition at line 678 of file vpFeatureThetaU.cpp.
References vpERROR_TRACE.
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virtual |
Feature duplication.
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 645 of file vpFeatureThetaU.cpp.
References cdRc, cRcd, and vpFeatureThetaU().
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virtual |
Compute the error
Since this visual feature
s_star | : Desired visual visual feature that should be equal to zero. |
select | : The error can be computed for a selection of a subset of the possible ![]()
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vpFeatureException::badInitializationError | : If the desired visual feature ![]() |
The code below shows how to use this method to manipulate the
To manipulate the subset features
Reimplemented from vpBasicFeature.
Definition at line 563 of file vpFeatureThetaU.cpp.
References vpFeatureException::badInitializationError, vpBasicFeature::get_s(), vpBasicFeature::s, selectTUx(), selectTUy(), selectTUz(), vpColVector::stack(), vpColVector::sumSquare(), and vpERROR_TRACE.
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inherited |
Get the feature vector
Definition at line 112 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpBasicFeature::s, and vpColVector::stack().
Referenced by vpServo::computeError(), vpBasicFeature::error(), vpFeatureDepth::error(), error(), vpFeatureTranslation::error(), and vpGenericFeature::error().
double vpFeatureThetaU::get_TUx | ( | ) | const |
Return the
Definition at line 326 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
double vpFeatureThetaU::get_TUy | ( | ) | const |
Return the
Definition at line 333 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
double vpFeatureThetaU::get_TUz | ( | ) | const |
Return the
Definition at line 340 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s.
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inlineinherited |
Definition at line 122 of file vpBasicFeature.h.
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inherited |
Get the feature vector dimension.
Definition at line 99 of file vpBasicFeature.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.
vpFeatureThetaU::vpFeatureThetaURotationRepresentationType vpFeatureThetaU::getFeatureThetaURotationType | ( | ) | const |
Get the type of rotation feature.
Definition at line 315 of file vpFeatureThetaU.cpp.
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virtual |
Initialise the memory space requested for 3D
Implements vpBasicFeature.
Definition at line 63 of file vpFeatureThetaU.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
Referenced by vpFeatureThetaU(), vpFeatureThetaU(), vpFeatureThetaU(), vpFeatureThetaU(), and vpFeatureThetaU().
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virtual |
Compute and return the interaction matrix
See the vpFeatureThetaU class description for the equations of
select | : Selection of a subset of the possible ![]()
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The code below shows how to compute the interaction matrix associated to the visual feature
The code below shows how to compute the interaction matrix associated to the
L_xy is here now a 2 by 6 matrix. The first line corresponds to the
It is also possible to build the interaction matrix from all the
In that case, L_xyz is a 3 by 6 interaction matrix where the last line corresponds to the
Implements vpBasicFeature.
Definition at line 404 of file vpFeatureThetaU.cpp.
References cdRc, vpBasicFeature::deallocate, vpMatrix::eye(), vpBasicFeature::flags, vpBasicFeature::nbParameters, vpBasicFeature::resetFlags(), vpBasicFeature::s, selectTUx(), selectTUy(), selectTUz(), vpMath::sinc(), vpColVector::skew(), vpMath::sqr(), vpMatrix::stack(), vpColVector::sumSquare(), vpBasicFeature::user, and vpTRACE.
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inlinevirtualinherited |
Return element i in the state vector (usage : x = s[i] )
Definition at line 129 of file vpBasicFeature.h.
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virtual |
Print to stdout the values of the current visual feature
select | : Selection of a subset of the possible ![]()
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Implements vpBasicFeature.
Definition at line 619 of file vpFeatureThetaU.cpp.
References vpBasicFeature::s, selectTUx(), selectTUy(), and selectTUz().
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protectedinherited |
Definition at line 129 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), interaction(), and vpFeatureTranslation::interaction().
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inlinestaticinherited |
Select all the features.
Definition at line 141 of file vpBasicFeature.h.
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static |
Function used to select the
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 715 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 740 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
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static |
Function used to select the
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to
See the interaction() method for an usage example.
This function is also useful in the vpServo class to indicate that a subset of the visual feature is to use in the control law:
Definition at line 765 of file vpFeatureThetaU.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by error(), interaction(), and print().
void vpFeatureThetaU::set_TUx | ( | double | tu_x | ) |
Initialise the
tu_x | : ![]() |
Definition at line 275 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
void vpFeatureThetaU::set_TUy | ( | double | tu_y | ) |
Initialise the
tu_y | : ![]() |
Definition at line 288 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
void vpFeatureThetaU::set_TUz | ( | double | tu_z | ) |
Initialise the
tu_z | : ![]() |
Definition at line 301 of file vpFeatureThetaU.cpp.
References vpBasicFeature::flags, and vpBasicFeature::s.
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inlineinherited |
Definition at line 136 of file vpBasicFeature.h.
Referenced by vpServo::addFeature().
void vpFeatureThetaU::setFeatureThetaURotationType | ( | const vpFeatureThetaURotationRepresentationType | r | ) |
Set the type of rotation feature.
r | : type of feature. It can be vpFeatureThetaU::cdRc or vpFeatureThetaU::cRcd. |
Definition at line 265 of file vpFeatureThetaU.cpp.
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inherited |
Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.
Definition at line 139 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
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protectedinherited |
Definition at line 147 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), and vpBasicFeature::operator=().
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protectedinherited |
Dimension of the visual feature.
Definition at line 93 of file vpBasicFeature.h.
Referenced by vpFeatureMoment::duplicate(), vpGenericFeature::duplicate(), vpBasicFeature::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpGenericFeature::error(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureMoment::interaction(), vpGenericFeature::interaction(), vpFeatureLuminance::interaction(), vpBasicFeature::operator=(), vpFeatureLuminance::operator=(), vpFeatureMoment::print(), vpGenericFeature::print(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::set_s(), vpGenericFeature::setError(), vpGenericFeature::setInteractionMatrix(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpGenericFeature::vpGenericFeature().
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staticinherited |
Definition at line 41 of file vpBasicFeature.h.
Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::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(), selectTUx(), selectTUy(), selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureVanishingPoint::selectX(), vpFeatureSegment::selectXc(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureVanishingPoint::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().
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protectedinherited |
Ensure that all the parameters needed to compute the iteraction matrix are set.
Definition at line 97 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureLine::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureDepth::buildFrom(), buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), set_TUx(), set_TUy(), set_TUz(), vpFeatureDepth::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureDepth::set_y(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeatureDepth::set_Z(), vpFeatureLuminance::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance::vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().
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protectedinherited |
Number of parameters needed to compute the interaction matrix.
Definition at line 99 of file vpBasicFeature.h.
Referenced by vpFeaturePoint3D::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureDepth::buildFrom(), buildFrom(), vpFeatureMoment::duplicate(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeatureLuminance::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpFeatureMoment::init(), vpFeatureVanishingPoint::interaction(), vpFeatureDepth::interaction(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeaturePoint::interaction(), vpFeaturePoint3D::interaction(), vpFeaturePointPolar::interaction(), vpFeatureSegment::interaction(), interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureMoment::update(), and vpFeatureLuminance::vpFeatureLuminance().
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protectedinherited |
State of the visual feature.
Definition at line 91 of file vpBasicFeature.h.
Referenced by vpFeatureTranslation::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureLine::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeaturePoint::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureDepth::buildFrom(), vpFeatureLuminance::buildFrom(), buildFrom(), vpFeatureEllipse::display(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureEllipse::error(), vpFeatureLine::error(), vpFeatureMomentAlpha::error(), vpFeaturePoint::error(), vpFeaturePoint3D::error(), vpFeaturePointPolar::error(), error(), vpFeatureTranslation::error(), vpGenericFeature::error(), vpFeatureLuminance::error(), vpGenericFeature::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpGenericFeature::get_s(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpFeaturePointPolar::get_theta(), get_TUx(), get_TUy(), get_TUz(), vpFeatureTranslation::get_Tx(), vpFeatureTranslation::get_Ty(), vpFeatureTranslation::get_Tz(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint3D::get_Z(), vpFeatureVanishingPoint::getAlpha(), vpFeatureVanishingPoint::getAtanOneOverRho(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::getOneOverRho(), vpFeatureDepth::init(), vpFeatureEllipse::init(), vpFeatureLine::init(), vpFeaturePoint::init(), vpFeaturePoint3D::init(), vpFeaturePointPolar::init(), vpFeatureSegment::init(), init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::init(), vpGenericFeature::init(), vpFeatureLuminance::init(), vpFeatureMoment::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureLine::print(), vpFeatureMoment::print(), vpFeatureSegment::print(), 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(), set_TUx(), set_TUy(), set_TUz(), vpFeatureTranslation::set_Tx(), vpFeatureTranslation::set_Ty(), vpFeatureTranslation::set_Tz(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint3D::set_Z(), vpFeatureVanishingPoint::setAlpha(), vpFeatureVanishingPoint::setAtanOneOverRho(), vpFeatureEllipse::setMoments(), vpFeatureVanishingPoint::setOneOverRho(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().