45 #include <visp3/core/vpMath.h> 46 #include <visp3/core/vpHomogeneousMatrix.h> 47 #include <visp3/core/vpPoint.h> 48 #include <visp3/visual_features/vpFeaturePoint.h> 49 #include <visp3/visual_features/vpFeatureException.h> 50 #include <visp3/core/vpDebug.h> 51 #include <visp3/visual_features/vpFeatureBuilder.h> 65 vpTRACE(
"set point coordinates in the world frame ") ;
68 std::cout <<
"------------------------------------------------------"<<std::endl ;
69 vpTRACE(
"test the projection ") ;
72 vpTRACE(
"coordinates in the world frame ") ;
73 std::cout << point.
oP.
t() << std::endl ;
74 vpTRACE(
"coordinates in the camera frame ") ;
75 std::cout << point.
cP.
t() << std::endl ;
78 std::cout<< point.
get_x() <<
" " << point.
get_y() << std::endl ;
80 std::cout <<
"------------------------------------------------------"<<std::endl ;
81 vpTRACE(
"test the interaction matrix ") ;
88 std::cout << L << std::endl ;
90 vpTRACE(
"test the interaction matrix select") ;
93 std::cout << L << std::endl ;
97 std::cout << L << std::endl ;
102 std::cout << L << std::endl ;
106 std::cout << L << std::endl ;
108 std::cout <<
"------------------------------------------------------"<<std::endl ;
116 pd.
print() ; std::cout << std::endl ;
119 std::cout << e << std::endl ;
121 vpTRACE(
"test the interaction matrix select") ;
124 std::cout << e << std::endl ;
128 std::cout << e << std::endl ;
132 std::cout << e << std::endl ;
136 std::cout << e << std::endl ;
139 catch(
vpException &me){ std::cout << me << std::endl ; }
140 std::cout <<
"------------------------------------------------------"<<std::endl ;
141 vpTRACE(
"test the dimension") ;
144 std::cout <<
"Dimension = " << dim << std::endl ;
146 vpTRACE(
"test the dimension with select") ;
149 std::cout <<
"Dimension = " << dim << std::endl ;
153 std::cout <<
"Dimension = " << dim << std::endl ;
157 std::cout <<
"Dimension = " << dim << std::endl ;
161 std::cout <<
"Dimension = " << dim << std::endl ;
165 std::cout <<
"Catch an exception: " << e << std::endl;
Implementation of a matrix and operations on matrices.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
Implementation of an homogeneous matrix and operations on such kind of matrices.
unsigned int getDimension(const unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
error that can be emited by ViSP classes.
static unsigned int selectY()
static unsigned int selectAll()
Select all the features.
void track(const vpHomogeneousMatrix &cMo)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void set_y(const double y)
Class that defines what is a point.
void set_x(const double x)
static unsigned int selectX()
Error that can be emited by the vpBasicFeature class and its derivates.
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
double get_x() const
Get the point x coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void print(const unsigned int select=FEATURE_ALL) const