42 #include <visp/vpConfig.h>
43 #include <visp/vpHomogeneousMatrix.h>
44 #include <visp/vpPoint.h>
45 #include <visp/vpDisplay.h>
46 #include <visp/vpDisplayX.h>
47 #include <visp/vpImage.h>
48 #include <visp/vpCameraParameters.h>
49 #include <visp/vpPoseFeatures.h>
50 #include <visp/vpPose.h>
53 #include <visp/vpPose.h>
63 #ifndef DOXYGEN_SHOULD_SKIP_THIS
64 #ifdef VISP_HAVE_CPP11_COMPATIBILITY
65 class vp_createPointClass{
69 vp_createPointClass() : value(0){}
95 std::cout <<
"Reference pose used to create the visual features : " << std::endl;
96 std::cout << pose_ref.
t() << std::endl;
165 #ifdef VISP_HAVE_CPP11_COMPATIBILITY
170 vp_createPointClass cpClass;
171 int (vp_createPointClass::*ptrClass)(
vpFeaturePoint&,
const vpPoint&) = &vp_createPointClass::vp_createPoint;
184 std::cout <<
"\nPose used as initialisation of the pose computation : " << std::endl;
185 std::cout << pose_est.
t() << std::endl;
191 std::cout <<
"\nEstimated pose from visual features : " << std::endl;
193 std::cout << pose_est.
t() << std::endl;
195 std::cout <<
"\nResulting covariance (Diag): " << std::endl;
197 std::cout << covariance[0][0] <<
" "
198 << covariance[1][1] <<
" "
199 << covariance[2][2] <<
" "
200 << covariance[3][3] <<
" "
201 << covariance[4][4] <<
" "
202 << covariance[5][5] <<
" " << std::endl;
205 for(
unsigned int i=0; i<6; i++) {
206 if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
210 std::cout <<
"\nPose is " << (test_fail ?
"badly" :
"well") <<
" estimated" << std::endl;