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Visual Servoing Platform
version 3.2.0
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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
void resize(const unsigned int i, const bool flagNullify=true)
static unsigned int selectY()
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
void buildFrom(const double x, const double y, const double Z)
Generic class defining intrinsic camera parameters.
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
void print(const unsigned int select=FEATURE_ALL) const
vpFeaturePoint * duplicate() const
unsigned int dim_s
Dimension of the visual feature.
void set_xyZ(const double x, const double y, const double Z)
void set_y(const double y)
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void set_Z(const double Z)
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
static unsigned int selectX()
Error that can be emited by the vpBasicFeature class and its derivates.
vpColVector s
State of the visual feature.
vpBasicFeatureDeallocatorType deallocate
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const unsigned int FEATURE_LINE[32]
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Class to define colors available for display functionnalities.
void stack(const vpMatrix &A)
void set_x(const double x)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
class that defines what is a visual feature