40 #include <visp3/visual_features/vpBasicFeature.h> 41 #include <visp3/visual_features/vpFeaturePoint3D.h> 44 #include <visp3/core/vpException.h> 45 #include <visp3/visual_features/vpFeatureException.h> 48 #include <visp3/core/vpDebug.h> 238 if (
flags[i] ==
false) {
241 vpTRACE(
"Warning !!! The interaction matrix is computed but X was " 245 vpTRACE(
"Warning !!! The interaction matrix is computed but Y was " 249 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was " 253 vpTRACE(
"Problem during the reading of the variable flags");
365 ex[0] =
s[0] - s_star[0];
372 ey[0] =
s[1] - s_star[1];
378 ez[0] =
s[2] - s_star[2];
409 s[0] = p.
cP[0] / p.
cP[3];
410 s[1] = p.
cP[1] / p.
cP[3];
411 s[2] = p.
cP[2] / p.
cP[3];
416 std::cout <<
"Z = " << Z << std::endl;
421 if (fabs(Z) < 1e-6) {
423 std::cout <<
"Z = " << Z << std::endl;
457 std::cout <<
"Z = " << Z << std::endl;
462 if (fabs(Z) < 1e-6) {
464 std::cout <<
"Z = " << Z << std::endl;
499 std::cout <<
"Point3D: ";
501 std::cout <<
" X=" <<
get_X();
503 std::cout <<
" Y=" <<
get_Y();
505 std::cout <<
" Z=" <<
get_Z();
506 std::cout << std::endl;
531 const vpColor & ,
unsigned int )
const 533 static int firsttime = 0;
535 if (firsttime == 0) {
548 const vpColor & ,
unsigned int )
const 550 static int firsttime = 0;
552 if (firsttime == 0) {
Implementation of a matrix and operations on matrices.
void set_X(const double X)
void set_XYZ(const double X, const double Y, const double Z)
double get_Z() const
Return the coordinate in the camera frame of the 3D point.
void set_Z(const double Z)
void print(const unsigned int select=FEATURE_ALL) const
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Class to define colors available for display functionnalities.
void stack(const vpMatrix &A)
unsigned int dim_s
Dimension of the visual feature.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void buildFrom(const vpPoint &p)
Class that defines what is a point.
static unsigned int selectY()
class that defines what is a visual feature
vpFeaturePoint3D * duplicate() const
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines the 3D point visual feature.
Generic class defining intrinsic camera parameters.
static unsigned int selectZ()
static const unsigned int FEATURE_LINE[32]
vpBasicFeatureDeallocatorType deallocate
Implementation of column vector and the associated operations.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
double get_X() const
Return the coordinate in the camera frame of the 3D point.
void set_Y(const double Y)
static unsigned int selectX()
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)
double get_Y() const
Return the coordinate in the camera frame of the 3D point.