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Visual Servoing Platform
version 3.2.0
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#include <vpFeatureVanishingPoint.h>
Public Types | |
enum | vpFeatureVanishingPointType { X = 1, Y = 2 } |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpFeatureVanishingPoint () | |
virtual | ~vpFeatureVanishingPoint () |
void | 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 |
void | display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const |
vpFeatureVanishingPoint * | duplicate () const |
vpColVector | error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL) |
vpColVector | error (const unsigned int select=FEATURE_ALL) |
double | get_x () const |
double | get_y () const |
void | init () |
vpMatrix | interaction (const unsigned int select=FEATURE_ALL) |
void | print (const unsigned int select=FEATURE_ALL) const |
void | set_x (const double _x) |
void | set_y (const double _y) |
void | set_xy (const double _x, const double _y) |
Static Public Member Functions | |
static unsigned int | selectX () |
static unsigned int | selectY () |
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 vanishing point visual feature (Z coordinate in 3D space is infinity).
Definition at line 60 of file vpFeatureVanishingPoint.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.
Enumerator | |
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X | |
Y |
Definition at line 63 of file vpFeatureVanishingPoint.h.
vpFeatureVanishingPoint::vpFeatureVanishingPoint | ( | ) |
Default constructor.
Definition at line 73 of file vpFeatureVanishingPoint.cpp.
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inlinevirtual |
Destructor.
Definition at line 78 of file vpFeatureVanishingPoint.h.
void vpFeatureVanishingPoint::buildFrom | ( | const double | _x, |
const double | _y | ||
) |
Definition at line 197 of file vpFeatureVanishingPoint.cpp.
References vpBasicFeature::flags, vpBasicFeature::nbParameters, and vpBasicFeature::s.
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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 vanishing 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 215 of file vpFeatureVanishingPoint.cpp.
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virtual |
Display vanishing 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 240 of file vpFeatureVanishingPoint.cpp.
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virtual |
feature duplication
for memory issue (used by the vpServo class only)
Implements vpBasicFeature.
Definition at line 258 of file vpFeatureVanishingPoint.cpp.
vpColVector vpFeatureVanishingPoint::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 two visual features from a subset a the possible features
compute the error between two visual features from a subset of the possible features
Reimplemented from vpBasicFeature.
Definition at line 163 of file vpFeatureVanishingPoint.cpp.
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inherited |
Get the feature vector .
Definition at line 113 of file vpBasicFeature.cpp.
double vpFeatureVanishingPoint::get_x | ( | ) | const |
get the point x-coordinates
Definition at line 82 of file vpFeatureVanishingPoint.cpp.
Referenced by print().
double vpFeatureVanishingPoint::get_y | ( | ) | const |
get the point y-coordinates
Definition at line 91 of file vpFeatureVanishingPoint.cpp.
Referenced by print().
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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 |
Default initialization.
Implements vpBasicFeature.
Definition at line 57 of file vpFeatureVanishingPoint.cpp.
References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.
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virtual |
compute the interaction matrix from a subset a the possible features
compute the interaction matrix from a subset of the possible features
Implements vpBasicFeature.
Definition at line 101 of file vpFeatureVanishingPoint.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 the name of the feature
Implements vpBasicFeature.
Definition at line 186 of file vpFeatureVanishingPoint.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 |
Definition at line 264 of file vpFeatureVanishingPoint.cpp.
Referenced by print().
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static |
Definition at line 265 of file vpFeatureVanishingPoint.cpp.
References vpBasicFeature::FEATURE_LINE.
Referenced by print().
void vpFeatureVanishingPoint::set_x | ( | const double | _x | ) |
Set the point x-coordinates.
set the point x-coordinates
Definition at line 76 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::set_xy | ( | const double | _x, |
const double | _y | ||
) |
Set the point xy coordinates.
set the point xy coordinates
Definition at line 94 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::set_y | ( | const double | _y | ) |
Set the point y-coordinates.
set the point y-coordinates
Definition at line 85 of file vpFeatureVanishingPoint.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(), 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(), 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(), buildFrom(), 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 buildFrom(), vpFeatureEllipse::buildFrom(), 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(), buildFrom(), vpFeatureMomentAlpha::error(), init(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpGenericFeature::init(), vpFeatureEllipse::print(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), and vpFeatureEllipse::setMu().