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Visual Servoing Platform
version 3.2.0
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44 #include <visp3/core/vpDebug.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMath.h>
47 #include <visp3/core/vpPoint.h>
48 #include <visp3/visual_features/vpFeatureBuilder.h>
49 #include <visp3/visual_features/vpFeatureException.h>
50 #include <visp3/visual_features/vpFeaturePoint.h>
64 vpTRACE(
"set point coordinates in the world frame ");
67 std::cout <<
"------------------------------------------------------" << std::endl;
68 vpTRACE(
"test the projection ");
71 vpTRACE(
"coordinates in the world frame ");
72 std::cout << point.
oP.
t() << std::endl;
73 vpTRACE(
"coordinates in the camera frame ");
74 std::cout << point.
cP.
t() << std::endl;
77 std::cout << point.
get_x() <<
" " << point.
get_y() << std::endl;
79 std::cout <<
"------------------------------------------------------" << std::endl;
80 vpTRACE(
"test the interaction matrix ");
87 std::cout << L << std::endl;
89 vpTRACE(
"test the interaction matrix select");
92 std::cout << L << std::endl;
96 std::cout << L << std::endl;
100 std::cout << L << std::endl;
104 std::cout << L << std::endl;
106 std::cout <<
"------------------------------------------------------" << std::endl;
115 std::cout << std::endl;
118 std::cout << e << std::endl;
120 vpTRACE(
"test the interaction matrix select");
123 std::cout << e << std::endl;
127 std::cout << e << std::endl;
131 std::cout << e << std::endl;
135 std::cout << e << std::endl;
137 std::cout << me << std::endl;
139 std::cout << me << std::endl;
141 std::cout <<
"------------------------------------------------------" << std::endl;
145 std::cout <<
"Dimension = " << dim << std::endl;
147 vpTRACE(
"test the dimension with select");
150 std::cout <<
"Dimension = " << dim << std::endl;
154 std::cout <<
"Dimension = " << dim << std::endl;
158 std::cout <<
"Dimension = " << dim << std::endl;
162 std::cout <<
"Dimension = " << dim << std::endl;
165 std::cout <<
"Catch an exception: " << e << std::endl;
void setWorldCoordinates(const double oX, const double oY, const double oZ)
static unsigned int selectY()
static unsigned int selectAll()
Select all the features.
void print(const unsigned int select=FEATURE_ALL) const
double get_x() const
Get the point x coordinate in the image plane.
void set_y(const double y)
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
unsigned int getDimension(const unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
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.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Class that defines what is a point.
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
void set_x(const double x)
double get_y() const
Get the point y coordinate in the image plane.