40 #include <visp3/visual_features/vpBasicFeature.h> 41 #include <visp3/visual_features/vpFeaturePoint3D.h> 44 #include <visp3/core/vpException.h> 45 #include <visp3/visual_features/vpFeatureException.h> 48 #include <visp3/core/vpDebug.h> 267 if (
flags[i] ==
false)
271 vpTRACE(
"Warning !!! The interaction matrix is computed but X was not set yet");
274 vpTRACE(
"Warning !!! The interaction matrix is computed but Y was not set yet");
277 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was not set yet");
280 vpTRACE(
"Problem during the reading of the variable flags");
385 const unsigned int select)
393 ex[0] =
s[0] - s_star[0] ;
401 ey[0] =
s[1] - s_star[1] ;
408 ez[0] =
s[2] - s_star[2] ;
442 s[0] = p.
cP[0]/p.
cP[3] ;
443 s[1] = p.
cP[1]/p.
cP[3] ;
444 s[2] = p.
cP[2]/p.
cP[3] ;
450 std::cout <<
"Z = " << Z << std::endl ;
453 "Point is behind the camera ")) ;
459 std::cout <<
"Z = " << Z << std::endl ;
462 "Point Z coordinates is null")) ;
496 std::cout <<
"Z = " << Z << std::endl ;
499 "Point is behind the camera ")) ;
505 std::cout <<
"Z = " << Z << std::endl ;
508 "Point Z coordinates is null")) ;
543 std::cout <<
"Point3D: " ;
545 std::cout <<
" X=" <<
get_X() ;
547 std::cout <<
" Y=" <<
get_Y() ;
549 std::cout <<
" Z=" <<
get_Z() ;
550 std::cout <<std::endl ;
581 static int firsttime =0 ;
602 static int firsttime =0 ;
Implementation of a matrix and operations on matrices.
void set_X(const double X)
bool * flags
Ensure that all the parameters needed to compute the iteraction matrix are set.
void set_XYZ(const double X, const double Y, const double Z)
void set_Z(const double Z)
void stack(const double &d)
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
Class to define colors available for display functionnalities.
void stack(const vpMatrix &A)
unsigned int dim_s
Dimension of the visual feature.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
void buildFrom(const vpPoint &p)
Class that defines what is a point.
static unsigned int selectY()
double get_Z() const
Return the coordinate in the camera frame of the 3D point.
class that defines what is a visual feature
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines the 3D point visual feature.
Generic class defining intrinsic camera parameters.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static unsigned int selectZ()
vpFeaturePoint3D * duplicate() const
static const unsigned int FEATURE_LINE[32]
void print(const unsigned int select=FEATURE_ALL) const
vpBasicFeatureDeallocatorType deallocate
Implementation of column vector and the associated operations.
void set_Y(const double Y)
static unsigned int selectX()
double get_Y() const
Return the coordinate in the camera frame of the 3D point.
double get_X() const
Return the coordinate in the camera frame of the 3D point.
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)