41 #include <visp3/visual_features/vpBasicFeature.h>
42 #include <visp3/visual_features/vpFeaturePoint.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>
220 if (
flags[i] ==
false) {
223 vpTRACE(
"Warning !!! The interaction matrix is computed but x was "
227 vpTRACE(
"Warning !!! The interaction matrix is computed but y was "
231 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was "
235 vpTRACE(
"Problem during the reading of the variable flags");
248 std::cout <<
"Z = " << Z_ << std::endl;
253 if (fabs(Z_) < 1e-6) {
255 std::cout <<
"Z = " << Z_ << std::endl;
268 Lx[0][4] = -(1 + x_ * x_);
281 Ly[0][3] = 1 + y_ * y_;
333 ex[0] =
s[0] - s_star[0];
340 ey[0] =
s[1] - s_star[1];
372 std::cout <<
"Point: Z=" <<
get_Z();
374 std::cout <<
" x=" <<
get_x();
376 std::cout <<
" y=" <<
get_y();
377 std::cout << std::endl;
402 std::cout <<
"Z = " << Z_ << std::endl;
407 if (fabs(Z_) < 1e-6) {
409 std::cout <<
"Z = " << Z_ << std::endl;
429 unsigned int thickness)
const
455 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 functionalities.
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 emitted by the vpBasicFeature class and its derivates.
@ badInitializationError
Wrong feature initialization.
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)
void print(unsigned int select=FEATURE_ALL) const override
vpMatrix interaction(unsigned int select=FEATURE_ALL) override
static unsigned int selectY()
vpFeaturePoint * duplicate() const override
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) override
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const override
Implementation of a matrix and operations on matrices.
void stack(const vpMatrix &A)