 |
Visual Servoing Platform
version 3.2.0
|
44 #include <visp3/visual_features/vpBasicFeature.h>
45 #include <visp3/visual_features/vpFeatureDepth.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>
226 if (
flags[i] ==
false) {
229 vpTRACE(
"Warning !!! The interaction matrix is computed but x was "
233 vpTRACE(
"Warning !!! The interaction matrix is computed but y was "
237 vpTRACE(
"Warning !!! The interaction matrix is computed but z was "
241 vpTRACE(
"Problem during the reading of the variable flags");
256 std::cout <<
"Z = " << Z_ << std::endl;
261 if (fabs(Z_) < 1e-6) {
263 std::cout <<
"Z = " << Z_ << std::endl;
351 std::cout <<
"Point: x=" <<
get_x();
352 std::cout <<
" Point: y=" <<
get_y();
353 std::cout <<
" Point: Z=" <<
get_Z();
357 std::cout << std::endl;
375 s[0] = LogZoverZstar;
383 std::cout <<
"Z = " << Z << std::endl;
388 if (fabs(Z) < 1e-6) {
390 std::cout <<
"Z = " << Z << std::endl;
421 const vpColor & ,
unsigned int )
const
423 static int firsttime = 0;
425 if (firsttime == 0) {
438 const vpColor & ,
unsigned int )
const
440 static int firsttime = 0;
442 if (firsttime == 0) {
void resize(const unsigned int i, const bool flagNullify=true)
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
Generic class defining intrinsic camera parameters.
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
unsigned int dim_s
Dimension of the visual feature.
void set_y(const double y)
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void set_LogZoverZstar(const double LogZoverZstar)
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
double get_LogZoverZstar() const
void set_Z(const double Z)
Error that can be emited by the vpBasicFeature class and its derivates.
void set_x(const double x)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs)
vpColVector s
State of the visual feature.
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
vpBasicFeatureDeallocatorType deallocate
vpFeatureDepth * duplicate() const
Class to define colors available for display functionnalities.
void print(const unsigned int select=FEATURE_ALL) const
class that defines what is a visual feature