44 #include <visp3/visual_features/vpBasicFeature.h>
45 #include <visp3/visual_features/vpFeaturePoint.h>
48 #include <visp3/core/vpException.h>
49 #include <visp3/visual_features/vpFeatureException.h>
52 #include <visp3/core/vpDebug.h>
55 #include <visp3/core/vpMath.h>
57 #include <visp3/core/vpFeatureDisplay.h>
223 if (
flags[i] ==
false) {
226 vpTRACE(
"Warning !!! The interaction matrix is computed but x was "
230 vpTRACE(
"Warning !!! The interaction matrix is computed but y was "
234 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was "
238 vpTRACE(
"Problem during the reading of the variable flags");
251 std::cout <<
"Z = " << Z_ << std::endl;
256 if (fabs(Z_) < 1e-6) {
258 std::cout <<
"Z = " << Z_ << std::endl;
271 Lx[0][4] = -(1 + x_ * x_);
284 Ly[0][3] = 1 + y_ * y_;
336 ex[0] =
s[0] - s_star[0];
343 ey[0] =
s[1] - s_star[1];
375 std::cout <<
"Point: Z=" <<
get_Z();
377 std::cout <<
" x=" <<
get_x();
379 std::cout <<
" y=" <<
get_y();
380 std::cout << std::endl;
405 std::cout <<
"Z = " << Z_ << std::endl;
410 if (fabs(Z_) < 1e-6) {
412 std::cout <<
"Z = " << Z_ << std::endl;
432 unsigned int thickness)
const
458 unsigned int thickness)
const
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.
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
static unsigned int selectX()
void set_xyZ(double x, double y, double Z)
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
static unsigned int selectY()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void print(unsigned int select=FEATURE_ALL) const
vpFeaturePoint * duplicate() const
vpMatrix interaction(unsigned int select=FEATURE_ALL)
Implementation of a matrix and operations on matrices.
void stack(const vpMatrix &A)