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) {
class that defines what is a visual feature
vpColVector s
State of the visual feature.
static const unsigned int FEATURE_LINE[32]
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
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 functionnalities.
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines the 3D point visual feature.
void print(unsigned int select=FEATURE_ALL) const
static unsigned int selectX()
double get_X() const
Return the coordinate in the camera frame of the 3D point.
void set_XYZ(double X, double Y, double Z)
double get_Y() const
Return the coordinate in the camera frame of the 3D point.
static unsigned int selectZ()
vpMatrix interaction(unsigned int select=FEATURE_ALL)
vpFeaturePoint3D * duplicate() const
void buildFrom(const vpPoint &p)
static unsigned int selectY()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
double get_Z() const
Return the coordinate in the camera frame of the 3D point.
Implementation of a matrix and operations on matrices.
void stack(const vpMatrix &A)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...