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Visual Servoing Platform
version 3.2.0
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43 #include <visp3/visual_features/vpBasicFeature.h>
44 #include <visp3/visual_features/vpFeatureVanishingPoint.h>
47 #include <visp3/core/vpException.h>
48 #include <visp3/visual_features/vpFeatureException.h>
51 #include <visp3/core/vpDebug.h>
54 #include <visp3/core/vpMath.h>
56 #include <visp3/core/vpFeatureDisplay.h>
110 if (
flags[i] ==
false) {
113 vpTRACE(
"Warning !!! The interaction matrix is computed but x was "
117 vpTRACE(
"Warning !!! The interaction matrix is computed but y was "
121 vpTRACE(
"Problem during the reading of the variable flags");
139 Lx[0][4] = -(1 + x * x);
152 Ly[0][3] = 1 + y * y;
171 ex[0] =
s[0] - s_star[0];
178 ey[0] =
s[1] - s_star[1];
190 std::cout <<
"Point: " << std::endl;
192 std::cout <<
" x=" <<
get_x();
194 std::cout <<
" y=" <<
get_y();
195 std::cout << std::endl;
217 const vpColor &color,
unsigned int thickness)
const
242 unsigned int thickness)
const
void resize(const unsigned int i, const bool flagNullify=true)
double get_y() const
get the point y-coordinates
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
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)
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
print the name of the feature
unsigned int dim_s
Dimension of the visual feature.
void set_xy(const double _x, const double _y)
Set the point xy coordinates.
static unsigned int selectX()
Implementation of column vector and the associated operations.
static unsigned int selectY()
vpFeatureVanishingPoint * duplicate() const
feature duplication
Implementation of a matrix and operations on matrices.
Class that defines 2D vanishing point visual feature (Z coordinate in 3D space is infinity).
vpFeatureVanishingPoint()
Default constructor.
double get_x() const
get the point x-coordinates
vpColVector s
State of the visual feature.
void set_x(const double _x)
Set the point x-coordinates.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void set_y(const double _y)
Set the point y-coordinates.
vpBasicFeatureDeallocatorType deallocate
static const unsigned int FEATURE_LINE[32]
void init()
Default initialization.
Class to define colors available for display functionnalities.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
compute the interaction matrix from a subset a the possible features
void stack(const vpMatrix &A)
class that defines what is a visual feature