45 #include <visp3/visual_features/vpBasicFeature.h> 46 #include <visp3/visual_features/vpFeatureDepth.h> 49 #include <visp3/core/vpException.h> 50 #include <visp3/visual_features/vpFeatureException.h> 53 #include <visp3/core/vpDebug.h> 56 #include <visp3/core/vpMath.h> 58 #include <visp3/core/vpFeatureDisplay.h> 112 s[0] = LogZoverZstar ;
214 const double LogZoverZstar)
254 if (
flags[i] ==
false)
258 vpTRACE(
"Warning !!! The interaction matrix is computed but x was not set yet");
261 vpTRACE(
"Warning !!! The interaction matrix is computed but y was not set yet");
264 vpTRACE(
"Warning !!! The interaction matrix is computed but z was not set yet");
267 vpTRACE(
"Problem during the reading of the variable flags");
283 std::cout <<
"Z = " << Z_ << std::endl ;
286 "Point is behind the camera ")) ;
292 std::cout <<
"Z = " << Z_ << std::endl ;
295 "Point Z coordinates is null")) ;
350 const unsigned int select)
357 "s* should be zero !")) ;
389 std::cout <<
"Point: x=" <<
get_x() ;
390 std::cout <<
" Point: y=" <<
get_y() ;
391 std::cout <<
" Point: Z=" <<
get_Z() ;
395 std::cout <<std::endl ;
412 s[0] = LogZoverZstar;
421 std::cout <<
"Z = " << Z << std::endl ;
424 "Point is behind the camera ")) ;
430 std::cout <<
"Z = " << Z << std::endl ;
433 "Point Z coordinates is null")) ;
469 static int firsttime =0 ;
490 static int firsttime =0 ;
Implementation of a matrix and operations on matrices.
void print(const unsigned int select=FEATURE_ALL) const
bool * flags
Ensure that all the parameters needed to compute the iteraction matrix are set.
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
Class to define colors available for display functionnalities.
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
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 .
void set_LogZoverZstar(const double LogZoverZstar)
class that defines what is a visual feature
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void set_x(const double x)
Error that can be emited by the vpBasicFeature class and its derivates.
Generic class defining intrinsic camera parameters.
vpFeatureDepth * duplicate() const
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
vpBasicFeatureDeallocatorType deallocate
double get_LogZoverZstar() const
Implementation of column vector and the associated operations.
void set_Z(const double Z)
void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs)
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
vpColVector s
State of the visual feature.
void resize(const unsigned int i, const bool flagNullify=true)