36 #include <visp3/visual_features/vpBasicFeature.h>
37 #include <visp3/visual_features/vpFeaturePoint3D.h>
40 #include <visp3/core/vpException.h>
41 #include <visp3/visual_features/vpFeatureException.h>
44 #include <visp3/core/vpDebug.h>
234 if (
flags[i] ==
false) {
237 vpTRACE(
"Warning !!! The interaction matrix is computed but X was "
241 vpTRACE(
"Warning !!! The interaction matrix is computed but Y was "
245 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was "
249 vpTRACE(
"Problem during the reading of the variable flags");
361 ex[0] =
s[0] - s_star[0];
368 ey[0] =
s[1] - s_star[1];
374 ez[0] =
s[2] - s_star[2];
405 s[0] = p.
cP[0] / p.
cP[3];
406 s[1] = p.
cP[1] / p.
cP[3];
407 s[2] = p.
cP[2] / p.
cP[3];
412 std::cout <<
"Z = " << Z << std::endl;
417 if (fabs(Z) < 1e-6) {
419 std::cout <<
"Z = " << Z << std::endl;
453 std::cout <<
"Z = " << Z << std::endl;
458 if (fabs(Z) < 1e-6) {
460 std::cout <<
"Z = " << Z << std::endl;
495 std::cout <<
"Point3D: ";
497 std::cout <<
" X=" <<
get_X();
499 std::cout <<
" Y=" <<
get_Y();
501 std::cout <<
" Z=" <<
get_Z();
502 std::cout << std::endl;
527 const vpColor & ,
unsigned int )
const
529 static int firsttime = 0;
531 if (firsttime == 0) {
544 const vpColor & ,
unsigned int )
const
546 static int firsttime = 0;
548 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 functionalities.
Error that can be emitted by the vpBasicFeature class and its derivates.
@ badInitializationError
Wrong feature initialization.
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 ...