Visual Servoing Platform  version 3.3.0
Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Attributes | List of all members
vpFeatureEllipse Class Reference
visual_features: Visual features module » Visual features

#include <vpFeatureEllipse.h>

+ Inheritance diagram for vpFeatureEllipse:

Public Types

enum  { FEATURE_ALL = 0xffff }
 
enum  vpBasicFeatureDeallocatorType { user, vpServo }
 

Public Member Functions

 vpFeatureEllipse ()
 
virtual ~vpFeatureEllipse ()
 
 vpFeatureEllipse (double x, double y, double mu20, double mu11, double mu02)
 
void buildFrom (double x, double y, double mu20, double mu11, double mu02)
 
void buildFrom (double x, double y, double mu20, double mu11, double mu02, double A, double B, double C)
 
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
 
vpFeatureEllipse * duplicate () const
 
vpColVector error (const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
 
vpColVector error (unsigned int select=FEATURE_ALL)
 
double get_x () const
 
double get_y () const
 
double getMu20 () const
 
double getMu11 () const
 
double getMu02 () const
 
void init ()
 
vpMatrix interaction (unsigned int select=FEATURE_ALL)
 
void print (unsigned int select=FEATURE_ALL) const
 
void set_x (double x)
 
void set_y (double y)
 
void set_xy (double x, double y)
 
void setABC (double A, double B, double C)
 
void setMu (double mu20, double mu11, double mu02)
 

Static Public Member Functions

static unsigned int selectX ()
 
static unsigned int selectY ()
 
static unsigned int selectMu20 ()
 
static unsigned int selectMu11 ()
 
static unsigned int selectMu02 ()
 

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 (unsigned int select=FEATURE_ALL) const
 
virtual double operator[] (unsigned int i) const
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
void setFlags ()
 
static unsigned int selectAll ()
 
vpBasicFeatureDeallocatorType deallocate
 
void resetFlags ()
 

Detailed Description

Class that defines 2D ellipse visual feature.

Examples
servoAfma6Ellipse2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, simulateCircle2DCamVelocity.cpp, and testTrackDot.cpp.

Definition at line 57 of file vpFeatureEllipse.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 81 of file vpBasicFeature.h.

◆ vpBasicFeatureDeallocatorType

enum vpBasicFeature::vpBasicFeatureDeallocatorType
inherited

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 87 of file vpBasicFeature.h.

Constructor & Destructor Documentation

◆ vpFeatureEllipse() [1/2]

vpFeatureEllipse::vpFeatureEllipse ( )

Default constructor.

Definition at line 89 of file vpFeatureEllipse.cpp.

References init().

◆ ~vpFeatureEllipse()

virtual vpFeatureEllipse::~vpFeatureEllipse ( )
inlinevirtual

Destructor.

Definition at line 72 of file vpFeatureEllipse.h.

◆ vpFeatureEllipse() [2/2]

vpFeatureEllipse::vpFeatureEllipse ( double  x,
double  y,
double  mu20,
double  mu11,
double  mu02 
)

basic constructor

coordinates

Member Function Documentation

◆ buildFrom() [1/2]

void vpFeatureEllipse::buildFrom ( double  x,
double  y,
double  mu20,
double  mu11,
double  mu02 
)
Examples
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 287 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

◆ buildFrom() [2/2]

void vpFeatureEllipse::buildFrom ( double  x,
double  y,
double  mu20,
double  mu11,
double  mu02,
double  A,
double  B,
double  C 
)

Definition at line 300 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, vpBasicFeature::nbParameters, and vpBasicFeature::s.

◆ dimension_s()

unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

Return the dimension of the feature vector $\bf s$.

Definition at line 109 of file vpBasicFeature.h.

◆ display() [1/2]

void vpFeatureEllipse::display ( const vpCameraParameters &  cam,
const vpImage< unsigned char > &  I,
const vpColor &  color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Display ellipse feature.

Parameters
cam: Camera parameters.
I: Image on which features have to be displayed.
color: Color used to display the feature.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Examples
testTrackDot.cpp.

Definition at line 366 of file vpFeatureEllipse.cpp.

◆ display() [2/2]

void vpFeatureEllipse::display ( const vpCameraParameters &  cam,
const vpImage< vpRGBa > &  I,
const vpColor &  color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Display ellipse feature.

Parameters
cam: Camera parameters.
I: Color image on which features have to be displayed.
color: Color used to display the feature.
thickness: Thickness of the feature representation.

Implements vpBasicFeature.

Definition at line 394 of file vpFeatureEllipse.cpp.

◆ duplicate()

vpFeatureEllipse * vpFeatureEllipse::duplicate ( ) const
virtual

Feature duplication.

for memory issue (used by the vpServo class only)

Implements vpBasicFeature.

Definition at line 414 of file vpFeatureEllipse.cpp.

◆ error() [1/2]

vpColVector vpFeatureEllipse::error ( const vpBasicFeature &  s_star,
unsigned int  select = FEATURE_ALL 
)
virtual

compute the error between two visual features from a subset a the possible features

Reimplemented from vpBasicFeature.

Definition at line 225 of file vpFeatureEllipse.cpp.

◆ error() [2/2]

vpColVector vpFeatureEllipse::error ( unsigned int  select = FEATURE_ALL)

compute the error between a visual features and zero

◆ get_s()

vpColVector vpBasicFeature::get_s ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector $\bf s$.

Examples
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 113 of file vpBasicFeature.cpp.

◆ get_x()

double vpFeatureEllipse::get_x ( ) const
inline

Definition at line 98 of file vpFeatureEllipse.h.

◆ get_y()

double vpFeatureEllipse::get_y ( ) const
inline

Definition at line 99 of file vpFeatureEllipse.h.

◆ getDeallocate()

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 122 of file vpBasicFeature.h.

◆ getDimension()

unsigned int vpBasicFeature::getDimension ( unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 99 of file vpBasicFeature.cpp.

◆ getMu02()

double vpFeatureEllipse::getMu02 ( ) const
inline

Definition at line 102 of file vpFeatureEllipse.h.

◆ getMu11()

double vpFeatureEllipse::getMu11 ( ) const
inline

Definition at line 101 of file vpFeatureEllipse.h.

◆ getMu20()

double vpFeatureEllipse::getMu20 ( ) const
inline

Definition at line 100 of file vpFeatureEllipse.h.

◆ init()

void vpFeatureEllipse::init ( void  )
virtual

Default initialization.

Implements vpBasicFeature.

Definition at line 71 of file vpFeatureEllipse.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, vpBasicFeature::nbParameters, vpColVector::resize(), and vpBasicFeature::s.

Referenced by vpFeatureEllipse().

◆ interaction()

vpMatrix vpFeatureEllipse::interaction ( unsigned int  select = FEATURE_ALL)
virtual

compute the interaction matrix from a subset a the possible features

Implements vpBasicFeature.

Definition at line 92 of file vpFeatureEllipse.cpp.

◆ operator[]()

virtual double vpBasicFeature::operator[] ( unsigned int  i) const
inlinevirtualinherited

Return element i in the state vector (usage : x = s[i] )

Definition at line 129 of file vpBasicFeature.h.

◆ print()

void vpFeatureEllipse::print ( unsigned int  select = FEATURE_ALL) const
virtual

print the name of the feature

Implements vpBasicFeature.

Examples
servoSimuCircle2DCamVelocityDisplay.cpp.

Definition at line 269 of file vpFeatureEllipse.cpp.

References vpBasicFeature::s, selectMu02(), selectMu11(), selectMu20(), selectX(), and selectY().

◆ resetFlags()

void vpBasicFeature::resetFlags ( )
protectedinherited

Definition at line 130 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

◆ selectAll()

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 141 of file vpBasicFeature.h.

◆ selectMu02()

unsigned int vpFeatureEllipse::selectMu02 ( )
static

Definition at line 424 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by print().

◆ selectMu11()

unsigned int vpFeatureEllipse::selectMu11 ( )
static

Definition at line 423 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by print().

◆ selectMu20()

unsigned int vpFeatureEllipse::selectMu20 ( )
static

Definition at line 422 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by print().

◆ selectX()

unsigned int vpFeatureEllipse::selectX ( )
static

vpBasicFeature method instantiation

Definition at line 420 of file vpFeatureEllipse.cpp.

Referenced by print().

◆ selectY()

unsigned int vpFeatureEllipse::selectY ( )
static

Definition at line 421 of file vpFeatureEllipse.cpp.

References vpBasicFeature::FEATURE_LINE.

Referenced by print().

◆ set_x()

void vpFeatureEllipse::set_x ( double  x)

Definition at line 318 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

◆ set_xy()

void vpFeatureEllipse::set_xy ( double  x,
double  y 
)

Definition at line 330 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

◆ set_y()

void vpFeatureEllipse::set_y ( double  y)

Definition at line 324 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

◆ setABC()

void vpFeatureEllipse::setABC ( double  A,
double  B,
double  C 
)
Examples
servoAfma6Ellipse2DCamVelocity.cpp.

Definition at line 338 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

◆ setDeallocate()

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 136 of file vpBasicFeature.h.

◆ setFlags()

void vpBasicFeature::setFlags ( )
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.

◆ setMu()

void vpFeatureEllipse::setMu ( double  mu20,
double  mu11,
double  mu02 
)

Definition at line 347 of file vpFeatureEllipse.cpp.

References vpBasicFeature::flags, and vpBasicFeature::s.

Member Data Documentation

◆ deallocate

vpBasicFeatureDeallocatorType vpBasicFeature::deallocate
protectedinherited

Definition at line 147 of file vpBasicFeature.h.

◆ dim_s

unsigned int vpBasicFeature::dim_s
protectedinherited

Dimension of the visual feature.

Definition at line 93 of file vpBasicFeature.h.

Referenced by vpGenericFeature::duplicate(), init(), and vpFeatureLuminance::init().

◆ FEATURE_LINE

const unsigned int vpBasicFeature::FEATURE_LINE
staticinherited
Initial value:
= {
(unsigned int)(1 << 0), (unsigned int)(1 << 1), (unsigned int)(1 << 2), (unsigned int)(1 << 3),
(unsigned int)(1 << 4), (unsigned int)(1 << 5), (unsigned int)(1 << 6), (unsigned int)(1 << 7),
(unsigned int)(1 << 8), (unsigned int)(1 << 9), (unsigned int)(1 << 10), (unsigned int)(1 << 11),
(unsigned int)(1 << 12), (unsigned int)(1 << 13), (unsigned int)(1 << 14), (unsigned int)(1 << 15),
(unsigned int)(1 << 16), (unsigned int)(1 << 17), (unsigned int)(1 << 18), (unsigned int)(1 << 19),
(unsigned int)(1 << 20), (unsigned int)(1 << 21), (unsigned int)(1 << 22), (unsigned int)(1 << 23),
(unsigned int)(1 << 24), (unsigned int)(1 << 25), (unsigned int)(1 << 26), (unsigned int)(1 << 27),
(unsigned int)(1 << 28), (unsigned int)(1 << 29), (unsigned int)(1 << 30), (unsigned int)(1 << 31)}

Definition at line 79 of file vpBasicFeature.h.

Referenced by selectMu02(), selectMu11(), selectMu20(), and selectY().

◆ flags

bool* vpBasicFeature::flags
protectedinherited

Ensure that all the parameters needed to compute the iteraction matrix are set.

Definition at line 97 of file vpBasicFeature.h.

Referenced by buildFrom(), init(), vpBasicFeature::resetFlags(), set_x(), set_xy(), set_y(), setABC(), and setMu().

◆ nbParameters

unsigned int vpBasicFeature::nbParameters
protectedinherited

Number of parameters needed to compute the interaction matrix.

Definition at line 99 of file vpBasicFeature.h.

Referenced by buildFrom(), init(), vpBasicFeature::resetFlags(), and setABC().

◆ s

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 91 of file vpBasicFeature.h.

Referenced by buildFrom(), vpFeatureMomentAlpha::error(), init(), vpFeatureLuminance::init(), vpGenericFeature::init(), print(), set_x(), set_xy(), set_y(), and setMu().