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Visual Servoing Platform
version 3.2.0
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#include <vpFeatureLuminance.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpFeatureLuminance () | |
vpFeatureLuminance (const vpFeatureLuminance &f) | |
virtual | ~vpFeatureLuminance () |
void | buildFrom (vpImage< unsigned char > &I) |
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 |
vpFeatureLuminance * | duplicate () const |
vpColVector | error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL) |
void | error (const vpBasicFeature &s_star, vpColVector &e) |
vpColVector | error (const unsigned int select=FEATURE_ALL) |
double | get_Z () const |
void | init () |
void | init (unsigned int _nbr, unsigned int _nbc, double _Z) |
vpMatrix | interaction (const unsigned int select=FEATURE_ALL) |
void | interaction (vpMatrix &L) |
vpFeatureLuminance & | operator= (const vpFeatureLuminance &f) |
void | print (const unsigned int select=FEATURE_ALL) const |
void | setCameraParameters (vpCameraParameters &_cam) |
void | set_Z (const double Z) |
Public Attributes | |
vpCameraParameters | cam |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Attributes | |
double | Z |
unsigned int | nbr |
unsigned int | nbc |
unsigned int | bord |
vpLuminance * | pixInfo |
int | firstTimeIn |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
Inherited functionalities from vpBasicFeature | |
vpBasicFeatureDeallocatorType | deallocate |
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 () |
void | resetFlags () |
Class that defines the image luminance visual feature.
For more details see [Collewet08c].
Definition at line 78 of file vpFeatureLuminance.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.
vpFeatureLuminance::vpFeatureLuminance | ( | ) |
Default constructor that build a visual feature.
Definition at line 100 of file vpFeatureLuminance.cpp.
vpFeatureLuminance::vpFeatureLuminance | ( | const vpFeatureLuminance & | f | ) |
Copy constructor.
Definition at line 112 of file vpFeatureLuminance.cpp.
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virtual |
Destructor.
Destructor that free allocated memory.
Definition at line 140 of file vpFeatureLuminance.cpp.
void vpFeatureLuminance::buildFrom | ( | vpImage< unsigned char > & | I | ) |
Build a luminance feature directly from the image
Definition at line 173 of file vpFeatureLuminance.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 |
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virtual |
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virtual |
Create an object with the same type.
Implements vpBasicFeature.
Definition at line 356 of file vpFeatureLuminance.cpp.
vpColVector vpFeatureLuminance::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
s_star | : Desired visual feature. |
select | : Not used. |
Reimplemented from vpBasicFeature.
Definition at line 283 of file vpFeatureLuminance.cpp.
void vpFeatureLuminance::error | ( | const vpBasicFeature & | s_star, |
vpColVector & | e | ||
) |
Compute the error between the current and the desired
s_star | : Desired visual feature. |
e | : Error between the current and the desired features. |
Definition at line 267 of file vpFeatureLuminance.cpp.
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inherited |
Get the feature vector .
Definition at line 113 of file vpBasicFeature.cpp.
double vpFeatureLuminance::get_Z | ( | ) | const |
Get the value of which represents the depth in the 3D camera frame.
Definition at line 164 of file vpFeatureLuminance.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 |
Initialize the memory space requested for vpFeatureLuminance visual feature.
Implements vpBasicFeature.
Definition at line 58 of file vpFeatureLuminance.cpp.
Referenced by init().
void vpFeatureLuminance::init | ( | unsigned int | _nbr, |
unsigned int | _nbc, | ||
double | _Z | ||
) |
Definition at line 73 of file vpFeatureLuminance.cpp.
References bord, vpBasicFeature::dim_s, vpException::dimensionError, init(), nbc, nbr, pixInfo, vpColVector::resize(), vpBasicFeature::s, and Z.
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virtual |
Compute and return the interaction matrix . The computation is made thanks to the values of the luminance features
Implements vpBasicFeature.
Definition at line 252 of file vpFeatureLuminance.cpp.
void vpFeatureLuminance::interaction | ( | vpMatrix & | L | ) |
Compute and return the interaction matrix . The computation is made thanks to the values of the luminance features
Definition at line 225 of file vpFeatureLuminance.cpp.
vpFeatureLuminance & vpFeatureLuminance::operator= | ( | const vpFeatureLuminance & | f | ) |
Copy operator.
Definition at line 121 of file vpFeatureLuminance.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 |
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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.
void vpFeatureLuminance::set_Z | ( | const double | Z_ | ) |
Set the value of which represents the depth in the 3D camera frame.
Z_ | : ![]() |
Definition at line 152 of file vpFeatureLuminance.cpp.
void vpFeatureLuminance::setCameraParameters | ( | vpCameraParameters & | _cam | ) |
Definition at line 166 of file vpFeatureLuminance.cpp.
References cam.
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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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protected |
vpCameraParameters vpFeatureLuminance::cam |
Definition at line 131 of file vpFeatureLuminance.h.
Referenced by setCameraParameters().
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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 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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protected |
Definition at line 94 of file vpFeatureLuminance.h.
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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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protected |
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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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protected |
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protected |
Store the image (as a vector with intensity and gradient I, Ix, Iy)
Definition at line 93 of file vpFeatureLuminance.h.
Referenced by init().
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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(), init(), vpGenericFeature::init(), vpFeatureEllipse::print(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), and vpFeatureEllipse::setMu().
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protected |
FeaturePoint depth (required to compute the interaction matrix) default Z = 1m
Definition at line 83 of file vpFeatureLuminance.h.
Referenced by init().