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Visual Servoing Platform
version 3.3.0
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#include <vpFeatureVanishingPoint.h>
Public Types | |
enum | { FEATURE_ALL = 0xffff } |
enum | vpBasicFeatureDeallocatorType { user, vpServo } |
Public Member Functions | |
vpFeatureVanishingPoint () | |
virtual | ~vpFeatureVanishingPoint () |
void | buildFrom (double x, 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, unsigned int select=(selectX()|selectY())) |
double | get_x () const |
double | get_y () const |
double | getAtanOneOverRho () const |
double | getOneOverRho () const |
double | getAlpha () const |
void | init () |
vpMatrix | interaction (unsigned int select=(selectX()|selectY())) |
void | print (unsigned int select=(selectX()|selectY())) const |
void | set_x (double x) |
void | set_y (double y) |
void | set_xy (double x, double y) |
void | setAtanOneOverRho (double atan_one_over_rho) |
void | setOneOverRho (double one_over_rho) |
void | setAlpha (double alpha) |
Static Public Member Functions | |
static unsigned int | selectAlpha () |
static unsigned int | selectAtanOneOverRho () |
static unsigned int | selectOneOverRho () |
static unsigned int | selectX () |
static unsigned int | selectY () |
Static Public Attributes | |
static const unsigned int | FEATURE_LINE [32] |
Protected Attributes | |
unsigned int | m_select |
vpColVector | s |
unsigned int | dim_s |
bool * | flags |
unsigned int | nbParameters |
Inherited functionalities from vpBasicFeature | |
vpBasicFeatureDeallocatorType | deallocate |
static unsigned int | selectAll () |
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 () |
void | resetFlags () |
Class that defines 2D vanishing point visual features. Various features can be considered:
Definition at line 74 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.
vpFeatureVanishingPoint::vpFeatureVanishingPoint | ( | ) |
Default constructor that calls init().
Definition at line 76 of file vpFeatureVanishingPoint.cpp.
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inlinevirtual |
Destructor.
Definition at line 86 of file vpFeatureVanishingPoint.h.
void vpFeatureVanishingPoint::buildFrom | ( | double | x, |
double | y | ||
) |
Set vanishing point visual feature from cartesian coordinates. Same as set_xy().
Definition at line 349 of file vpFeatureVanishingPoint.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 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 362 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 396 of file vpFeatureVanishingPoint.cpp.
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virtual |
Duplicate visual feature (used by the vpServo class only).
Implements vpBasicFeature.
Definition at line 425 of file vpFeatureVanishingPoint.cpp.
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virtual |
Compute the error between two visual features from a subset of the possible features.
s_star | : Desired visual feature ![]() |
select | : Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for ![]() ![]() |
Reimplemented from vpBasicFeature.
Definition at line 273 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 vanishing point feature value.
Definition at line 87 of file vpFeatureVanishingPoint.cpp.
double vpFeatureVanishingPoint::get_y | ( | ) | const |
Get vanishing point feature value.
Definition at line 98 of file vpFeatureVanishingPoint.cpp.
double vpFeatureVanishingPoint::getAlpha | ( | ) | const |
Get vanishing point feature value.
Definition at line 139 of file vpFeatureVanishingPoint.cpp.
double vpFeatureVanishingPoint::getAtanOneOverRho | ( | ) | const |
Get vanishing point feature value.
Definition at line 128 of file vpFeatureVanishingPoint.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.
double vpFeatureVanishingPoint::getOneOverRho | ( | ) | const |
Get vanishing point feature value.
Definition at line 125 of file vpFeatureVanishingPoint.cpp.
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virtual |
Vanishing point visual feature initialization.
Implements vpBasicFeature.
Definition at line 60 of file vpFeatureVanishingPoint.cpp.
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virtual |
Compute the interaction matrix from a subset of the possible features.
select | : Feature selector. Value is either selectX() to select x visual feature, selectY() for y visual feature, selectOneOverRho() for ![]() ![]() |
Implements vpBasicFeature.
Definition at line 149 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.
Print vanishing point features values to stdout.
select | : Use either selectX() to display x value, selectY() to display y value, select selectOneOverRho() to display ![]() ![]() |
Implements vpBasicFeature.
Definition at line 328 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 |
Select visual feature.
Definition at line 450 of file vpFeatureVanishingPoint.cpp.
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static |
Select visual feature .
Definition at line 445 of file vpFeatureVanishingPoint.cpp.
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static |
Select visual feature .
Definition at line 440 of file vpFeatureVanishingPoint.cpp.
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static |
Select visual feature .
Definition at line 432 of file vpFeatureVanishingPoint.cpp.
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static |
Select visual feature .
Definition at line 435 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::set_x | ( | double | x | ) |
Set vanishing point feature value.
Definition at line 79 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::set_xy | ( | double | x, |
double | y | ||
) |
Set vanishing point visual feature from cartesian coordinates. Same as buildFrom().
Definition at line 101 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::set_y | ( | double | y | ) |
Set vanishing point feature value.
Definition at line 90 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::setAlpha | ( | double | alpha | ) |
Set vanishing point feature value.
Definition at line 131 of file vpFeatureVanishingPoint.cpp.
void vpFeatureVanishingPoint::setAtanOneOverRho | ( | double | atan_one_over_rho | ) |
Set vanishing point feature value.
Definition at line 117 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.
void vpFeatureVanishingPoint::setOneOverRho | ( | double | one_over_rho | ) |
Set vanishing point feature value.
Definition at line 109 of file vpFeatureVanishingPoint.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(), 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(), 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(), vpFeatureEllipse::init(), vpBasicFeature::resetFlags(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureEllipse::setABC(), and vpFeatureEllipse::setMu().
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protected |
Definition at line 118 of file vpFeatureVanishingPoint.h.
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protectedinherited |
Number of parameters needed to compute the interaction matrix.
Definition at line 99 of file vpBasicFeature.h.
Referenced by vpFeatureEllipse::buildFrom(), 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(), vpFeatureMomentAlpha::error(), vpFeatureEllipse::init(), vpFeatureLuminance::init(), vpGenericFeature::init(), vpFeatureEllipse::print(), vpFeatureEllipse::set_x(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), and vpFeatureEllipse::setMu().