40 #include <visp3/visual_features/vpBasicFeature.h>
41 #include <visp3/visual_features/vpFeatureTranslation.h>
43 #include <visp3/core/vpMath.h>
46 #include <visp3/core/vpException.h>
47 #include <visp3/visual_features/vpFeatureException.h>
50 #include <visp3/core/vpDebug.h>
115 : f2Mf1(), translation(r)
133 this->f2Mf1 = f2Mf1_;
310 if (
flags[i] ==
false) {
313 vpTRACE(
"Warning !!! The interaction matrix is computed but f2Mf1 "
317 vpTRACE(
"Problem during the reading of the variable flags");
324 if (translation ==
cdMc) {
329 for (
int i = 0; i < 3; i++)
330 Lx[0][i] = f2Mf1[0][i];
341 for (
int i = 0; i < 3; i++)
342 Ly[0][i] = f2Mf1[1][i];
353 for (
int i = 0; i < 3; i++)
354 Lz[0][i] = f2Mf1[2][i];
362 if (translation ==
cMcd) {
401 if (translation ==
cMo) {
513 if (translation ==
cdMc || translation ==
cMcd) {
522 ex[0] =
s[0] - s_star[0];
528 ey[0] =
s[1] - s_star[1];
534 ez[0] =
s[2] - s_star[2];
566 std::cout <<
"Translation 3D:";
568 std::cout <<
" tx=" <<
s[0];
571 std::cout <<
" ty=" <<
s[1];
574 std::cout <<
" tz=" <<
s[2];
576 std::cout << std::endl;
595 if (translation ==
cdMc)
597 if (translation ==
cMo)
599 if (translation ==
cMcd)
610 const vpColor & ,
unsigned int )
const
612 static int firsttime = 0;
614 if (firsttime == 0) {
627 const vpColor & ,
unsigned int )
const
629 static int firsttime = 0;
631 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.
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 functionnalities.
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines the translation visual feature .
static unsigned int selectTz()
vpMatrix interaction(unsigned int select=FEATURE_ALL)
void buildFrom(const vpHomogeneousMatrix &f2Mf1)
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r)
vpFeatureTranslation * duplicate() const
Feature duplication.
static unsigned int selectTx()
vpFeatureTranslationRepresentationType getFeatureTranslationType() const
static unsigned int selectTy()
vpFeatureTranslationRepresentationType
void print(unsigned int select=FEATURE_ALL) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
void stack(const vpMatrix &A)