42 #include <visp/vpConfig.h>
43 #include <visp/vpHomogeneousMatrix.h>
44 #include <visp/vpPoint.h>
45 #include <visp/vpDisplay.h>
46 #include <visp/vpDisplayX.h>
47 #include <visp/vpImage.h>
48 #include <visp/vpCameraParameters.h>
49 #include <visp/vpPoseFeatures.h>
50 #include <visp/vpPose.h>
53 #include <visp/vpPose.h>
63 #ifdef VISP_HAVE_CPP11_COMPATIBILITY
92 std::cout <<
"cMo used for the projection : " << std::endl;
162 #ifdef VISP_HAVE_CPP11_COMPATIBILITY
180 std::cout <<
"cMo used as initialisation of the pose computation : " << std::endl;
186 std::cout <<
"Resulting cMo : " << std::endl;
189 std::cout <<
"Resulting covariance (Diag): " << std::endl;
191 std::cout << covariance[0][0] <<
" "
192 << covariance[1][1] <<
" "
193 << covariance[2][2] <<
" "
194 << covariance[3][3] <<
" "
195 << covariance[4][4] <<
" "
196 << covariance[5][5] <<
" " << std::endl;
199 for(
unsigned int i = 0 ; i < 6 ; i++){
201 std::cout <<
"Bad pose estimation" << std::endl;
208 std::cout <<
"Pose well estimed" << std::endl;
Definition of the vpMatrix class.
void setVerbose(const bool &mode)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void addFeatureVanishingPoint(const vpPoint &)
void setLambda(const double &val)
void addFeaturePoint3D(const vpPoint &)
void addFeaturePoint(const vpPoint &)
Class that defines what is a point.
void addFeatureEllipse(const vpCircle &)
void computePose(vpHomogeneousMatrix &cMo, const vpPoseFeaturesMethodType &type=VIRTUAL_VS)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
vpRowVector t() const
transpose of Vector
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
static double rad(double deg)
void setVVSIterMax(const int &val)
void setCovarianceComputation(const bool &flag)
vpMatrix getCovarianceMatrix() const
The pose is a complete representation of every rigid motion in the euclidian space.
void addSpecificFeature(RetType(*fct_ptr)(ArgsFunc...), Args &&...args)
int vp_createPoint(vpFeaturePoint &fp, const vpPoint &v)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines what is a circle.
void setWorldCoordinates(const vpColVector &oP)
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...