41 #include <visp3/visual_features/vpBasicFeature.h>
42 #include <visp3/visual_features/vpFeatureDepth.h>
45 #include <visp3/core/vpException.h>
46 #include <visp3/visual_features/vpFeatureException.h>
49 #include <visp3/core/vpDebug.h>
52 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpFeatureDisplay.h>
222 if (
flags[i] ==
false) {
225 vpTRACE(
"Warning !!! The interaction matrix is computed but x was "
229 vpTRACE(
"Warning !!! The interaction matrix is computed but y was "
233 vpTRACE(
"Warning !!! The interaction matrix is computed but z was "
237 vpTRACE(
"Problem during the reading of the variable flags");
252 std::cout <<
"Z = " << Z_ << std::endl;
257 if (fabs(Z_) < 1e-6) {
259 std::cout <<
"Z = " << Z_ << std::endl;
347 std::cout <<
"Point: x=" <<
get_x();
348 std::cout <<
" Point: y=" <<
get_y();
349 std::cout <<
" Point: Z=" <<
get_Z();
353 std::cout << std::endl;
371 s[0] = LogZoverZstar;
379 std::cout <<
"Z = " << Z << std::endl;
384 if (fabs(Z) < 1e-6) {
386 std::cout <<
"Z = " << Z << std::endl;
417 const vpColor & ,
unsigned int )
const
419 static int firsttime = 0;
421 if (firsttime == 0) {
434 const vpColor & ,
unsigned int )
const
436 static int firsttime = 0;
438 if (firsttime == 0) {
class that defines what is a visual feature
vpColVector s
State of the visual feature.
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
unsigned int dim_s
Dimension of the visual feature.
vpBasicFeatureDeallocatorType deallocate
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionalities.
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const override
void buildFrom(double x, double y, double Z, double LogZoverZstar)
void print(unsigned int select=FEATURE_ALL) const override
vpFeatureDepth * duplicate() const override
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) override
double get_LogZoverZstar() const
void set_LogZoverZstar(double LogZoverZstar)
void set_xyZLogZoverZstar(double x, double y, double Z, double logZZs)
vpMatrix interaction(unsigned int select=FEATURE_ALL) override
Error that can be emitted by the vpBasicFeature class and its derivates.
@ badInitializationError
Wrong feature initialization.
Implementation of a matrix and operations on matrices.