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Visual Servoing Platform
version 3.2.0
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#include <vpBasicFeature.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpBasicFeature () | |
vpBasicFeature (const vpBasicFeature &f) | |
virtual | ~vpBasicFeature () |
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 | |
vpBasicFeatureDeallocatorType | deallocate |
unsigned int | dimension_s () |
virtual void | display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0 |
virtual void | display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0 |
virtual void | init ()=0 |
virtual vpColVector | error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL) |
vpColVector | get_s (unsigned int select=FEATURE_ALL) const |
vpBasicFeatureDeallocatorType | getDeallocate () |
unsigned int | getDimension (const unsigned int select=FEATURE_ALL) const |
virtual vpMatrix | interaction (const unsigned int select=FEATURE_ALL)=0 |
virtual double | operator[] (const unsigned int i) const |
vpBasicFeature & | operator= (const vpBasicFeature &f) |
virtual void | print (const unsigned int select=FEATURE_ALL) const =0 |
virtual vpBasicFeature * | duplicate () const =0 |
void | setDeallocate (vpBasicFeatureDeallocatorType d) |
void | setFlags () |
static unsigned int | selectAll () |
void | resetFlags () |
class that defines what is a visual feature
Definition at line 76 of file vpBasicFeature.h.
anonymous enum |
Enumerator | |
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FEATURE_ALL |
Definition at line 81 of file vpBasicFeature.h.
Indicates who should deallocate the feature.
Enumerator | |
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user | |
vpServo |
Definition at line 87 of file vpBasicFeature.h.
vpBasicFeature::vpBasicFeature | ( | ) |
Default constructor.
Definition at line 58 of file vpBasicFeature.cpp.
vpBasicFeature::vpBasicFeature | ( | const vpBasicFeature & | f | ) |
Copy constructor.
Definition at line 74 of file vpBasicFeature.cpp.
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virtual |
Destructor that free allocated memory.
Definition at line 63 of file vpBasicFeature.cpp.
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inline |
Return the dimension of the feature vector .
Definition at line 109 of file vpBasicFeature.h.
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pure virtual |
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pure virtual |
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pure virtual |
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virtual |
Compute the error between two visual features from a subset of the possible features.
Reimplemented in vpFeatureTranslation, vpFeaturePointPolar, vpFeatureThetaU, vpFeaturePoint3D, vpFeatureLine, vpFeaturePoint, vpGenericFeature, vpFeatureMomentAlpha, vpFeatureDepth, vpFeatureLuminance, vpFeatureEllipse, vpFeatureVanishingPoint, and vpFeatureSegment.
Definition at line 150 of file vpBasicFeature.cpp.
vpColVector vpBasicFeature::get_s | ( | unsigned int | select = FEATURE_ALL | ) | const |
Get the feature vector .
Definition at line 113 of file vpBasicFeature.cpp.
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inline |
Definition at line 122 of file vpBasicFeature.h.
unsigned int vpBasicFeature::getDimension | ( | const unsigned int | select = FEATURE_ALL | ) | const |
Get the feature vector dimension.
Definition at line 99 of file vpBasicFeature.cpp.
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pure virtual |
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pure virtual |
Compute the interaction matrix from a subset of the possible features.
Implemented in vpFeatureTranslation, vpFeaturePointPolar, vpFeatureThetaU, vpFeaturePoint3D, vpFeatureLine, vpFeatureMoment, vpFeaturePoint, vpGenericFeature, vpFeatureDepth, vpFeatureSegment, vpFeatureLuminance, vpFeatureEllipse, and vpFeatureVanishingPoint.
vpBasicFeature & vpBasicFeature::operator= | ( | const vpBasicFeature & | f | ) |
Copy operator.
Definition at line 83 of file vpBasicFeature.cpp.
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inlinevirtual |
Return element i in the state vector (usage : x = s[i] )
Definition at line 129 of file vpBasicFeature.h.
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pure virtual |
Print the name of the feature.
Implemented in vpFeatureTranslation, vpFeaturePointPolar, vpFeatureThetaU, vpFeaturePoint3D, vpFeatureLine, vpFeatureMoment, vpFeaturePoint, vpGenericFeature, vpFeatureDepth, vpFeatureSegment, vpFeatureLuminance, vpFeatureEllipse, and vpFeatureVanishingPoint.
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protected |
Definition at line 130 of file vpBasicFeature.cpp.
References flags, and nbParameters.
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inlinestatic |
Select all the features.
Definition at line 141 of file vpBasicFeature.h.
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inline |
Definition at line 136 of file vpBasicFeature.h.
void vpBasicFeature::setFlags | ( | ) |
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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protected |
Definition at line 147 of file vpBasicFeature.h.
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protected |
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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static |
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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protected |
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(), resetFlags(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureEllipse::setABC(), and vpFeatureEllipse::setMu().
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protected |
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(), resetFlags(), and vpFeatureEllipse::setABC().
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protected |
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().