45 #include <visp3/visual_features/vpBasicFeature.h>
46 #include <visp3/visual_features/vpFeaturePoint.h>
49 #include <visp3/core/vpException.h>
50 #include <visp3/visual_features/vpFeatureException.h>
53 #include <visp3/core/vpDebug.h>
56 #include <visp3/core/vpMath.h>
58 #include <visp3/core/vpFeatureDisplay.h>
252 if (
flags[i] ==
false)
256 vpTRACE(
"Warning !!! The interaction matrix is computed but x was not set yet");
259 vpTRACE(
"Warning !!! The interaction matrix is computed but y was not set yet");
262 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was not set yet");
265 vpTRACE(
"Problem during the reading of the variable flags");
272 double x_ =
get_x() ;
273 double y_ =
get_y() ;
274 double Z_ =
get_Z() ;
279 std::cout <<
"Z = " << Z_ << std::endl ;
282 "Point is behind the camera ")) ;
288 std::cout <<
"Z = " << Z_ << std::endl ;
291 "Point Z coordinates is null")) ;
302 Lx[0][4] = -(1+x_*x_) ;
357 const unsigned int select)
365 ex[0] =
s[0] - s_star[0] ;
373 ey[0] =
s[1] - s_star[1] ;
409 std::cout <<
"Point: Z=" <<
get_Z() ;
411 std::cout <<
" x=" <<
get_x() ;
413 std::cout <<
" y=" <<
get_y() ;
414 std::cout <<std::endl ;
439 std::cout <<
"Z = " << Z_ << std::endl ;
442 "Point is behind the camera ")) ;
448 std::cout <<
"Z = " << Z_ << std::endl ;
451 "Point Z coordinates is null")) ;
473 unsigned int thickness)
const
504 unsigned int thickness)
const
Implementation of a matrix and operations on matrices.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
bool * flags
Ensure that all the parameters needed to compute the iteraction matrix are set.
void stack(const double &d)
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
void set_xyZ(const double x, const double y, const double Z)
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Class to define colors available for display functionnalities.
void stack(const vpMatrix &A)
unsigned int dim_s
Dimension of the visual feature.
static unsigned int selectY()
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
void set_y(const double y)
void set_x(const double x)
class that defines what is a visual feature
static unsigned int selectX()
Error that can be emited by the vpBasicFeature class and its derivates.
Generic class defining intrinsic camera parameters.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static const unsigned int FEATURE_LINE[32]
void buildFrom(const double x, const double y, const double Z)
vpFeaturePoint * duplicate() const
vpBasicFeatureDeallocatorType deallocate
Implementation of column vector and the associated operations.
void set_Z(const double Z)
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector s
State of the visual feature.
void resize(const unsigned int i, const bool flagNullify=true)
void print(const unsigned int select=FEATURE_ALL) const