Visual Servoing Platform version 3.6.0
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testPoint.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Performs various tests on the point class.
33 *
34*****************************************************************************/
35
41#include <visp3/core/vpDebug.h>
42#include <visp3/core/vpHomogeneousMatrix.h>
43#include <visp3/core/vpMath.h>
44#include <visp3/core/vpPoint.h>
45#include <visp3/visual_features/vpFeatureBuilder.h>
46#include <visp3/visual_features/vpFeatureException.h>
47#include <visp3/visual_features/vpFeaturePoint.h>
48
49#include <stdio.h>
50#include <stdlib.h>
51
52int main()
53{
54 try {
56 cMo[0][3] = 0.1;
57 cMo[1][3] = 0.2;
58 cMo[2][3] = 2;
59
60 vpPoint point;
61 vpTRACE("set point coordinates in the world frame ");
62 point.setWorldCoordinates(0, 0, 0);
63
64 std::cout << "------------------------------------------------------" << std::endl;
65 vpTRACE("test the projection ");
66 point.track(cMo);
67
68 vpTRACE("coordinates in the world frame ");
69 std::cout << point.oP.t() << std::endl;
70 vpTRACE("coordinates in the camera frame ");
71 std::cout << point.cP.t() << std::endl;
72
73 vpTRACE("2D coordinates ");
74 std::cout << point.get_x() << " " << point.get_y() << std::endl;
75
76 std::cout << "------------------------------------------------------" << std::endl;
77 vpTRACE("test the interaction matrix ");
78
81
82 vpMatrix L;
83 L = p.interaction();
84 std::cout << L << std::endl;
85
86 vpTRACE("test the interaction matrix select");
87 vpTRACE("\t only X");
89 std::cout << L << std::endl;
90
91 vpTRACE("\t only Y");
93 std::cout << L << std::endl;
94
95 vpTRACE("\t X & Y");
97 std::cout << L << std::endl;
98
99 vpTRACE("\t selectAll");
101 std::cout << L << std::endl;
102
103 std::cout << "------------------------------------------------------" << std::endl;
104 vpTRACE("test the error ");
105
106 try {
108 pd.set_x(0);
109 pd.set_y(0);
110
111 pd.print();
112 std::cout << std::endl;
113 vpColVector e;
114 e = p.error(pd);
115 std::cout << e << std::endl;
116
117 vpTRACE("test the interaction matrix select");
118 vpTRACE("\t only X");
119 e = p.error(pd, vpFeaturePoint::selectX());
120 std::cout << e << std::endl;
121
122 vpTRACE("\t only Y");
123 e = p.error(pd, vpFeaturePoint::selectY());
124 std::cout << e << std::endl;
125
126 vpTRACE("\t X & Y");
128 std::cout << e << std::endl;
129
130 vpTRACE("\t selectAll");
131 e = p.error(pd, vpFeaturePoint::selectAll());
132 std::cout << e << std::endl;
133 } catch (vpFeatureException &me) {
134 std::cout << me << std::endl;
135 } catch (const vpException &me) {
136 std::cout << me << std::endl;
137 }
138 std::cout << "------------------------------------------------------" << std::endl;
139 vpTRACE("test the dimension");
140 unsigned int dim;
141 dim = p.getDimension();
142 std::cout << "Dimension = " << dim << std::endl;
143
144 vpTRACE("test the dimension with select");
145 vpTRACE("\t only X");
147 std::cout << "Dimension = " << dim << std::endl;
148
149 vpTRACE("\t only Y");
151 std::cout << "Dimension = " << dim << std::endl;
152
153 vpTRACE("\t X & Y");
155 std::cout << "Dimension = " << dim << std::endl;
156
157 vpTRACE("\t selectAll");
159 std::cout << "Dimension = " << dim << std::endl;
160 return EXIT_SUCCESS;
161 } catch (const vpException &e) {
162 std::cout << "Catch an exception: " << e << std::endl;
163 return EXIT_FAILURE;
164 }
165}
static unsigned int selectAll()
Select all the features.
unsigned int getDimension(unsigned int select=FEATURE_ALL) const
Get the feature vector dimension.
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Error that can be emitted by the vpBasicFeature class and its derivates.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static unsigned int selectX()
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
static unsigned int selectY()
void set_y(double y)
void set_x(double x)
void print(unsigned int select=FEATURE_ALL) const
vpMatrix interaction(unsigned int select=FEATURE_ALL)
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
double get_y() const
Get the point y coordinate in the image plane.
Definition vpPoint.cpp:469
double get_x() const
Get the point x coordinate in the image plane.
Definition vpPoint.cpp:467
void setWorldCoordinates(double oX, double oY, double oZ)
Definition vpPoint.cpp:110
vpColVector cP
Definition vpTracker.h:72
#define vpTRACE
Definition vpDebug.h:411