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Visual Servoing Platform
version 3.3.0
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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>
238 if (
flags[i] ==
false) {
241 vpTRACE(
"Warning !!! The interaction matrix is computed but X was "
245 vpTRACE(
"Warning !!! The interaction matrix is computed but Y was "
249 vpTRACE(
"Warning !!! The interaction matrix is computed but Z was "
253 vpTRACE(
"Problem during the reading of the variable flags");
365 ex[0] =
s[0] - s_star[0];
372 ey[0] =
s[1] - s_star[1];
378 ez[0] =
s[2] - s_star[2];
409 s[0] = p.
cP[0] / p.
cP[3];
410 s[1] = p.
cP[1] / p.
cP[3];
411 s[2] = p.
cP[2] / p.
cP[3];
416 std::cout <<
"Z = " << Z << std::endl;
421 if (fabs(Z) < 1e-6) {
423 std::cout <<
"Z = " << Z << std::endl;
457 std::cout <<
"Z = " << Z << std::endl;
462 if (fabs(Z) < 1e-6) {
464 std::cout <<
"Z = " << Z << std::endl;
499 std::cout <<
"Point3D: ";
501 std::cout <<
" X=" <<
get_X();
503 std::cout <<
" Y=" <<
get_Y();
505 std::cout <<
" Z=" <<
get_Z();
506 std::cout << std::endl;
531 const vpColor & ,
unsigned int )
const
533 static int firsttime = 0;
535 if (firsttime == 0) {
548 const vpColor & ,
unsigned int )
const
550 static int firsttime = 0;
552 if (firsttime == 0) {
Class that defines the 3D point visual feature.
static unsigned int selectY()
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Generic class defining intrinsic camera parameters.
vpMatrix interaction(unsigned int select=FEATURE_ALL)
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
unsigned int dim_s
Dimension of the visual feature.
double get_Y() const
Return the coordinate in the camera frame of the 3D point.
static unsigned int selectX()
Implementation of column vector and the associated operations.
double get_X() const
Return the coordinate in the camera frame of the 3D point.
Implementation of a matrix and operations on matrices.
void set_XYZ(double X, double Y, double Z)
Error that can be emited by the vpBasicFeature class and its derivates.
void buildFrom(const vpPoint &p)
vpColVector s
State of the visual feature.
double get_Z() const
Return the coordinate in the camera frame of the 3D point.
void resize(unsigned int i, bool flagNullify=true)
vpBasicFeatureDeallocatorType deallocate
static const unsigned int FEATURE_LINE[32]
Class that defines what is a point.
Class to define colors available for display functionnalities.
static unsigned int selectZ()
void print(unsigned int select=FEATURE_ALL) const
void stack(const vpMatrix &A)
class that defines what is a visual feature
vpFeaturePoint3D * duplicate() const