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Visual Servoing Platform
version 3.3.0
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40 #ifndef vpFeatureSegment_H
41 #define vpFeatureSegment_H
48 #include <visp3/core/vpMatrix.h>
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/core/vpRGBa.h>
51 #include <visp3/visual_features/vpBasicFeature.h>
52 #include <visp3/visual_features/vpFeatureException.h>
82 void buildFrom(
double x1,
double y1,
double Z1,
double x2,
double y2,
double Z2);
85 unsigned int thickness = 1)
const;
87 unsigned int thickness = 1)
const;
100 inline double getXc()
const {
return s[0]; }
108 inline double getYc()
const {
return s[1]; }
117 inline double getL()
const {
return s[2]; }
133 inline double getZ1()
const {
return Z1_; }
142 inline double getZ2()
const {
return Z2_; }
150 void print(
unsigned int select = FEATURE_ALL)
const;
157 static unsigned int selectXc();
158 static unsigned int selectYc();
159 static unsigned int selectL();
160 static unsigned int selectAlpha();
244 std::cout <<
"Z1 = " << Z1_ << std::endl;
249 if (fabs(Z1_) < 1e-6) {
251 std::cout <<
"Z1 = " << Z1_ << std::endl;
277 std::cout <<
"Z2 = " << Z2_ << std::endl;
282 if (fabs(Z2_) < 1e-6) {
284 std::cout <<
"Z2 = " << Z2_ << std::endl;
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
void setNormalized(bool normalized)
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Generic class defining intrinsic camera parameters.
void setAlpha(double val)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
virtual ~vpFeatureSegment()
Destructor. Does nothing.
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
static const vpColor green
Error that can be emited by the vpBasicFeature class and its derivates.
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Class to define colors available for display functionnalities.
virtual vpBasicFeature * duplicate() const =0
class that defines what is a visual feature