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Visual Servoing Platform
version 3.2.0
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#include <vpFeaturePointPolar.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpFeaturePointPolar () | |
virtual | ~vpFeaturePointPolar () |
void | buildFrom (const double rho, const double theta, const double Z) |
void | display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const |
void | display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const |
vpFeaturePointPolar * | duplicate () const |
vpColVector | error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL) |
void | init () |
double | get_rho () const |
double | get_theta () const |
double | get_Z () const |
vpMatrix | interaction (const unsigned int select=FEATURE_ALL) |
void | print (const unsigned int select=FEATURE_ALL) const |
void | set_rho (const double rho) |
void | set_theta (const double theta) |
void | set_Z (const double Z) |
void | set_rhoThetaZ (const double rho, const double theta, const double Z) |
Deprecated functions | |
vpColVector | error (const unsigned int select=FEATURE_ALL) |
Static Public Member Functions | |
static unsigned int | selectRho () |
static unsigned int | selectTheta () |
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 (const unsigned int select=FEATURE_ALL) const |
virtual double | operator[] (const unsigned int i) const |
void | setDeallocate (vpBasicFeatureDeallocatorType d) |
void | setFlags () |
static unsigned int | selectAll () |
vpBasicFeatureDeallocatorType | deallocate |
void | resetFlags () |
Class that defines 2D image point visual feature with polar coordinates described in [Corke09a].
Let us denote the polar coordinates of an image point, with
the radius of the feature point with respect to the optical center and
the angle. From cartesian coordinates
of a image point, polar coordinates are obtained by:
From polar coordinates, cartesian coordinates of the feature point can be obtained by:
This class is intended to manipulate the 2D image point visual feature in polar coordinates . The interaction matrix related to
is given by:
where is the 3D depth of the considered point in the camera frame.
Two ways are allowed to initialize the feature.
The interaction() method allows to compute the interaction matrix associated to the visual feature, while the error() method computes the error vector
between the current visual feature and the desired one.
The code below shows how to create a eye-in hand visual servoing task using four 2D point features with polar coordinates. First we create four current features (p var name in the code) and four desired
(pd var name in the code) point features with polar coordinates, set the task to use the interaction matrix associated to the current feature
and than compute the camera velocity
. The current feature
is updated in the while() loop, while
is initialized at the beginning.
If you want to deal only with the subset feature from the 2D point feature set, you have just to modify the addFeature() call in the previous example by the following line. In that case, the dimension of
is four.
If you want to build your own control law, this other example shows how to create a current ( ) and desired (
) 2D point visual feature with polar coordinates, compute the corresponding error vector
and finally build the interaction matrix
.
Definition at line 259 of file vpFeaturePointPolar.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.
vpFeaturePointPolar::vpFeaturePointPolar | ( | ) |
Default constructor that build a 2D point visual feature with polar coordinates and initialize it to .
The 3D depth of the point requested in the interaction matrix (see interaction()) is initialized to .
Definition at line 101 of file vpFeaturePointPolar.cpp.
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inlinevirtual |
Destructor. Does nothing.
Definition at line 270 of file vpFeaturePointPolar.h.
void vpFeaturePointPolar::buildFrom | ( | const double | rho, |
const double | theta, | ||
const double | Z_ | ||
) |
Build a 2D image point visual feature with polar coordinates.
rho,theta | : Polar coordinates ![]() |
Z_ | : 3D depth of the point in the camera frame. |
vpFeatureException::badInitializationError | If the depth ( ![]() |
vpFeatureException::badInitializationError | If the depth ( ![]() |
Definition at line 469 of file vpFeaturePointPolar.cpp.
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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 |
Display image point feature.
cam | : Camera parameters. |
I | : Image. |
color | : Color to use for the display |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 505 of file vpFeaturePointPolar.cpp.
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virtual |
Display image point feature.
cam | : Camera parameters. |
I | : color Image. |
color | : Color to use for the display |
thickness | : Thickness of the feature representation. |
Implements vpBasicFeature.
Definition at line 534 of file vpFeaturePointPolar.cpp.
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virtual |
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 565 of file vpFeaturePointPolar.cpp.
vpColVector vpFeaturePointPolar::error | ( | const unsigned int | select = FEATURE_ALL | ) |
compute the error between a visual features and zero
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virtual |
Compute the error between the current and the desired visual features from a subset of the possible features.
For the angular component , we define the error as
, where
is modulo
substraction.
s_star | : Desired 2D image point visual feature with polar coordinates. |
select | : The error can be computed for a selection of a subset of the possible 2D point polar coordinate features.
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The code below shows how to use this method to manipulate the component.
Reimplemented from vpBasicFeature.
Definition at line 384 of file vpFeaturePointPolar.cpp.
double vpFeaturePointPolar::get_rho | ( | ) | const |
Get the image point polar coordinate.
Definition at line 159 of file vpFeaturePointPolar.cpp.
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inherited |
Get the feature vector .
Definition at line 113 of file vpBasicFeature.cpp.
double vpFeaturePointPolar::get_theta | ( | ) | const |
Get the image point polar coordinate.
Definition at line 166 of file vpFeaturePointPolar.cpp.
double vpFeaturePointPolar::get_Z | ( | ) | const |
Get the 3D point depth in the camera frame.
Definition at line 171 of file vpFeaturePointPolar.cpp.
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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.
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virtual |
Initialise the memory space requested for a 2D point visual feature with polar coordinates.
By default this feature is initialized to . The 3D depth of the point requested in the interaction matrix (see interaction()) is initialized to
.
Implements vpBasicFeature.
Definition at line 74 of file vpFeaturePointPolar.cpp.
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virtual |
Compute and return the interaction matrix associated to a subset of the possible 2D image point features with polar coordinates
.
where is the 3D depth of the considered point.
select | : Selection of a subset of the possible polar point coordinate features.
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vpFeatureException::badInitializationError | : If the point is behind the camera ![]() ![]() ![]() |
The code below shows how to compute the interaction matrix associated to the visual feature .
The interaction matrix could also be build by:
In both cases, L is a 2 by 6 matrix. The first line corresponds to the visual feature while the second one to the
visual feature.
It is also possible to build the interaction matrix associated to one of the possible features. The code below shows how to consider only the component.
In that case, L_theta is a 1 by 6 matrix.
Implements vpBasicFeature.
Definition at line 247 of file vpFeaturePointPolar.cpp.
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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 2D image point feature coordinates.
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Implements vpBasicFeature.
Definition at line 441 of file vpFeaturePointPolar.cpp.
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protectedinherited |
Definition at line 130 of file vpBasicFeature.cpp.
References vpBasicFeature::flags, and vpBasicFeature::nbParameters.
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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 subset polar coordinate of the image point visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to feature.
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 594 of file vpFeaturePointPolar.cpp.
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static |
Function used to select the subset polar coordinate of the image point visual feature.
This function is to use in conjunction with interaction() in order to compute the interaction matrix associated to feature.
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 618 of file vpFeaturePointPolar.cpp.
void vpFeaturePointPolar::set_rho | ( | const double | rho | ) |
Set the image point polar coordinate.
Definition at line 108 of file vpFeaturePointPolar.cpp.
void vpFeaturePointPolar::set_rhoThetaZ | ( | const double | rho, |
const double | theta, | ||
const double | Z_ | ||
) |
Initialize the image point visual feature with polar coordinates.
rho,theta | : Polar coordinates ![]() |
Z_ | : 3D depth of the point in the camera frame. |
Definition at line 144 of file vpFeaturePointPolar.cpp.
void vpFeaturePointPolar::set_theta | ( | const double | theta | ) |
Set the image point polar coordinate.
Definition at line 118 of file vpFeaturePointPolar.cpp.
void vpFeaturePointPolar::set_Z | ( | const double | Z_ | ) |
Set the 3D point depth in the camera frame.
Definition at line 128 of file vpFeaturePointPolar.cpp.
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inlineinherited |
Definition at line 136 of file vpBasicFeature.h.
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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 140 of file vpBasicFeature.cpp.
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protectedinherited |
Definition at line 147 of file vpBasicFeature.h.
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protectedinherited |
Dimension of the visual feature.
Definition at line 93 of file vpBasicFeature.h.
Referenced by vpGenericFeature::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), and vpFeatureLuminance::init().
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staticinherited |
Definition at line 79 of file vpBasicFeature.h.
Referenced by vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureVanishingPoint::selectY(), and vpFeatureEllipse::selectY().
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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 vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpBasicFeature::resetFlags(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureEllipse::setABC(), and vpFeatureEllipse::setMu().
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protectedinherited |
Number of parameters needed to compute the interaction matrix.
Definition at line 99 of file vpBasicFeature.h.
Referenced by vpFeatureVanishingPoint::buildFrom(), vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpBasicFeature::resetFlags(), and vpFeatureEllipse::setABC().
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protectedinherited |
State of the visual feature.
Definition at line 91 of file vpBasicFeature.h.
Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureMomentAlpha::error(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpGenericFeature::init(), vpFeatureEllipse::print(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), and vpFeatureEllipse::setMu().