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;
Implementation of a matrix and operations on matrices.
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
Implementation of an homogeneous matrix and operations on such kind of matrices.
unsigned int getDimension(const unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
error that can be emited by ViSP classes.
static unsigned int selectY()
static unsigned int selectAll()
Select all the features.
void track(const vpHomogeneousMatrix &cMo)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void set_y(const double y)
Class that defines what is a point.
void set_x(const double x)
static unsigned int selectX()
Error that can be emited by the vpBasicFeature class and its derivates.
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
double get_x() const
Get the point x coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void print(const unsigned int select=FEATURE_ALL) const