int main (int argc, char** argv) {
Graph *G;
CayleyGraph *C;
G = get_D(6);
C = G -> make_cayley_graph();
std::cout << C -> identify_group() << std::endl;
delete C,G;
G = get_Q8();
C = G -> make_cayley_graph();
std::cout << C -> identify_group() << std::endl;
delete C,G;
Graph *G1, *G2, *G3, *G4;
CayleyGraph *C1,*C2,*C3;
G1 = get_Z(4);
G2 = get_Z(1);
G3 = get_Q8();
G4 = get_Z(1);
C1 = direct_product(*(G1->make_cayley_graph()), *(G2->make_cayley_graph()));
C2 = direct_product(*(G3->make_cayley_graph()), *(G4->make_cayley_graph()));
C3 = direct_product(*C1,*C2);
std::cout << "Direct product 1: " << C1 -> identify_group() << std::endl;
std::cout << "Direct product 2: " << C2 -> identify_group() << std::endl;
std::cout << "Direct product 3: " << C3 -> identify_group() << std::endl;
delete G1,G2,G3,G4,C1,C2,C3;
return 0;
}
/*!
Print to stdout the values of the current visual feature.
\param select : Selection of a subset of the possible 2D image point
feature coordinates.
- To print all the two polar coordinates \f$(\rho,\theta)\f$ used as
features use vpBasicFeature::FEATURE_ALL.
- To print only one of the polar coordinate
feature \f$(\rho,\theta)\f$ use one of the
corresponding function selectRho() or selectTheta().
\code
// Creation of the current feature s
vpFeaturePointPolar s;
s.buildFrom(0.1, M_PI_2, 1.3);
s.print(); // print all the 2 components of the image point feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePointPolar::selectRho()); // print only the rho component
\endcode
*/
void
vpFeaturePointPolar::print(const unsigned int select ) const
{
std::cout <<"Point: Z=" << get_Z() ;
if (vpFeaturePointPolar::selectRho() & select )
std::cout << " rho=" << get_rho() ;
if (vpFeaturePointPolar::selectTheta() & select )
std::cout << " theta=" << get_theta() ;
std::cout <<std::endl ;
}
/*!
Print to stdout the values of the current visual feature \f$ s \f$.
\param select : Selection of a subset of the possible 3D point
feature coordinates.
- To print all the three coordinates used as features use
vpBasicFeature::FEATURE_ALL.
- To print only one of the coordinate
feature \f$(X,Y,Z)\f$ use one of the
corresponding function selectX(), selectX() or selectZ().
\code
vpPoint point;
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point);
s.print(); // print all the 3 components of the translation feature
s.print(vpBasicFeature::FEATURE_ALL); // same behavior then previous line
s.print(vpFeaturePoint3D::selectZ()); // print only the Z component
\endcode
*/
void
vpFeaturePoint3D::print(const unsigned int select ) const
{
std::cout <<"Point3D: " ;
if (vpFeaturePoint3D::selectX() & select )
std::cout << " X=" << get_X() ;
if (vpFeaturePoint3D::selectY() & select )
std::cout << " Y=" << get_Y() ;
if (vpFeaturePoint3D::selectZ() & select )
std::cout << " Z=" << get_Z() ;
std::cout <<std::endl ;
}
void test_Z() {
// RUN: c-index-test -code-completion-at=%s:23:11 %s | FileCheck -check-prefix=CHECK-MEMBER %s
get_Z().member = 17;
}
/*!
Compute and return the interaction matrix \f$ L \f$ associated to a subset
of the possible 3D point features \f$(X,Y,Z)\f$ that
represent the 3D point coordinates expressed in the camera frame.
\f[
L = \left[
\begin{array}{rrrrrr}
-1 & 0 & 0 & 0 & -Z & Y \\
0 & -1 & 0 & Z & 0 & -X \\
0 & 0 & -1 & -Y & X & 0 \\
\end{array}
\right]
\f]
\param select : Selection of a subset of the possible 3D point coordinate
features.
- To compute the interaction matrix for all the three
subset features \f$(X,Y,Z)\f$ use vpBasicFeature::FEATURE_ALL. In
that case the dimension of the interaction matrix is \f$ [3 \times
6] \f$
- To compute the interaction matrix for only one of the
subset (\f$X, Y,Z\f$) use
one of the corresponding function selectX(), selectY() or
selectZ(). In that case the returned interaction matrix is \f$ [1
\times 6] \f$ dimension.
\return The interaction matrix computed from the 3D point coordinate
features.
The code below shows how to compute the interaction matrix
associated to the visual feature \f$s = X \f$.
\code
vpPoint point;
...
// Creation of the current feature s
vpFeaturePoint3D s;
s.buildFrom(point);
vpMatrix L_X = s.interaction( vpFeaturePoint3D::selectX() );
\endcode
The code below shows how to compute the interaction matrix
associated to the \f$s = (X,Y) \f$
subset visual feature:
\code
vpMatrix L_XY = s.interaction( vpFeaturePoint3D::selectX() | vpFeaturePoint3D::selectY() );
\endcode
L_XY is here now a 2 by 6 matrix. The first line corresponds to
the \f$ X \f$ visual feature while the second one to the \f$
Y \f$ visual feature.
It is also possible to build the interaction matrix from all the
3D point coordinates by:
\code
vpMatrix L_XYZ = s.interaction( vpBasicFeature::FEATURE_ALL );
\endcode
In that case, L_XYZ is a 3 by 6 interaction matrix where the last
line corresponds to the \f$ Z \f$ visual feature.
*/
vpMatrix
vpFeaturePoint3D::interaction(const unsigned int select)
{
vpMatrix L ;
L.resize(0,6) ;
if (deallocate == vpBasicFeature::user)
{
for (unsigned int i = 0; i < nbParameters; i++)
{
if (flags[i] == false)
{
switch(i){
case 0:
vpTRACE("Warning !!! The interaction matrix is computed but X was not set yet");
break;
case 1:
vpTRACE("Warning !!! The interaction matrix is computed but Y was not set yet");
break;
case 2:
vpTRACE("Warning !!! The interaction matrix is computed but Z was not set yet");
break;
default:
vpTRACE("Problem during the reading of the variable flags");
}
}
}
resetFlags();
}
double X = get_X() ;
double Y = get_Y() ;
double Z = get_Z() ;
if (vpFeaturePoint3D::selectX() & select )
{
vpMatrix Lx(1,6) ; Lx = 0;
Lx[0][0] = -1 ;
Lx[0][1] = 0 ;
Lx[0][2] = 0 ;
Lx[0][3] = 0 ;
Lx[0][4] = -Z ;
Lx[0][5] = Y ;
L = vpMatrix::stackMatrices(L,Lx) ;
}
if (vpFeaturePoint3D::selectY() & select )
{
vpMatrix Ly(1,6) ; Ly = 0;
Ly[0][0] = 0 ;
Ly[0][1] = -1 ;
Ly[0][2] = 0 ;
Ly[0][3] = Z ;
Ly[0][4] = 0 ;
Ly[0][5] = -X ;
L = vpMatrix::stackMatrices(L,Ly) ;
}
if (vpFeaturePoint3D::selectZ() & select )
{
vpMatrix Lz(1,6) ; Lz = 0;
Lz[0][0] = 0 ;
Lz[0][1] = 0 ;
Lz[0][2] = -1 ;
Lz[0][3] = -Y ;
Lz[0][4] = X ;
Lz[0][5] = 0 ;
L = vpMatrix::stackMatrices(L,Lz) ;
}
return L ;
}
/*!
Compute and return the interaction matrix \f$ L \f$ associated to a
subset of the possible 2D image point features with polar
coordinates \f$(\rho,\theta)\f$.
\f[
L = \left[
\begin{array}{l}
L_{\rho} \\
\; \\
L_{\theta}\\
\end{array}
\right]
=
\left[
\begin{array}{cccccc}
\frac{-\cos \theta}{Z} & \frac{-\sin \theta}{Z} & \frac{\rho}{Z} & (1+\rho^2)\sin\theta & -(1+\rho^2)\cos\theta & 0 \\
\; \\
\frac{\sin\theta}{\rho Z} & \frac{-\cos\theta}{\rho Z} & 0 & \cos\theta /\rho & \sin\theta/\rho & -1 \\
\end{array}
\right]
\f]
where \f$Z\f$ is the 3D depth of the considered point.
\param select : Selection of a subset of the possible polar
point coordinate features.
- To compute the interaction matrix for all the two
subset features \f$(\rho,\theta)\f$ use vpBasicFeature::FEATURE_ALL. In
that case the dimension of the interaction matrix is \f$ [2 \times
6] \f$
- To compute the interaction matrix for only one of the subset
(\f$\rho,\theta\f$) use one of the corresponding function
selectRho() or selectTheta(). In that case the returned
interaction matrix is \f$ [1 \times 6] \f$ dimension.
\return The interaction matrix computed from the 2D point
polar coordinate features.
\exception vpFeatureException::badInitializationError : If the point
is behind the camera \f$(Z < 0)\f$, or if the 3D depth is null \f$(Z
= 0)\f$, or if the \f$\rho\f$ polar coordinate of the point is null.
The code below shows how to compute the interaction matrix associated to
the visual feature \f$s = (\rho,\theta)\f$.
\code
vpFeaturePointPolar s;
double rho = 0.3;
double theta = M_PI;
double Z = 1;
// Creation of the current feature s
s.buildFrom(rho, theta, Z);
// Build the interaction matrix L_s
vpMatrix L = s.interaction();
\endcode
The interaction matrix could also be build by:
\code
vpMatrix L = s.interaction( vpBasicFeature::FEATURE_ALL );
\endcode
In both cases, L is a 2 by 6 matrix. The first line corresponds to
the \f$\rho\f$ visual feature while the second one to the
\f$\theta\f$ visual feature.
It is also possible to build the interaction matrix associated to
one of the possible features. The code below shows how to consider
only the \f$\theta\f$ component.
\code
vpMatrix L_theta = s.interaction( vpFeaturePointPolar::selectTheta() );
\endcode
In that case, L_theta is a 1 by 6 matrix.
*/
vpMatrix
vpFeaturePointPolar::interaction(const unsigned int select)
{
vpMatrix L ;
L.resize(0,6) ;
if (deallocate == vpBasicFeature::user)
{
for (unsigned int i = 0; i < nbParameters; i++)
{
if (flags[i] == false)
{
switch(i){
case 0:
vpTRACE("Warning !!! The interaction matrix is computed but rho was not set yet");
break;
case 1:
vpTRACE("Warning !!! The interaction matrix is computed but theta was not set yet");
break;
case 2:
vpTRACE("Warning !!! The interaction matrix is computed but Z was not set yet");
break;
default:
vpTRACE("Problem during the reading of the variable flags");
}
}
}
resetFlags();
}
double rho = get_rho() ;
double theta = get_theta() ;
double Z_ = get_Z() ;
double c_ = cos(theta);
double s_ = sin(theta);
double rho2 = rho*rho;
if (fabs(rho) < 1e-6) {
vpERROR_TRACE("rho polar coordinate of the point is null") ;
std::cout <<"rho = " << rho << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"rho polar coordinate of the point is null")) ;
}
if (Z_ < 0)
{
vpERROR_TRACE("Point is behind the camera ") ;
std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point is behind the camera ")) ;
}
if (fabs(Z_) < 1e-6)
{
vpERROR_TRACE("Point Z coordinates is null ") ;
std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point Z coordinates is null")) ;
}
if (vpFeaturePointPolar::selectRho() & select )
{
vpMatrix Lrho(1,6) ; Lrho = 0;
Lrho[0][0] = -c_/Z_ ;
Lrho[0][1] = -s_/Z_ ;
Lrho[0][2] = rho/Z_ ;
Lrho[0][3] = (1+rho2)*s_ ;
Lrho[0][4] = -(1+rho2)*c_ ;
Lrho[0][5] = 0 ;
// printf("Lrho: rho %f theta %f Z %f\n", rho, theta, Z);
// std::cout << "Lrho: " << Lrho << std::endl;
L = vpMatrix::stackMatrices(L,Lrho) ;
}
if (vpFeaturePointPolar::selectTheta() & select )
{
vpMatrix Ltheta(1,6) ; Ltheta = 0;
Ltheta[0][0] = s_/(rho*Z_) ;
Ltheta[0][1] = -c_/(rho*Z_) ;
Ltheta[0][2] = 0 ;
Ltheta[0][3] = c_/rho ;
Ltheta[0][4] = s_/rho ;
Ltheta[0][5] = -1 ;
// printf("Ltheta: rho %f theta %f Z %f\n", rho, theta, Z);
// std::cout << "Ltheta: " << Ltheta << std::endl;
L = vpMatrix::stackMatrices(L,Ltheta) ;
}
return L ;
}
void cvqual_subsume_test(Z z) {
cvqual_subsume(z); // expected-error{{call to 'cvqual_subsume' is ambiguous; candidates are:}}
int& x = cvqual_subsume2(get_Z()); // expected-error{{call to 'cvqual_subsume2' is ambiguous; candidates are:}}
}
void cvqual_subsume_test(Z z) {
cvqual_subsume(z); // expected-error{{call to 'cvqual_subsume' is ambiguous; candidates are:}}
int& x = cvqual_subsume2(get_Z()); // okay: only binds to the first one
}
