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Visual Servoing Platform
version 3.2.0
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45 #include <visp3/core/vpMath.h>
46 #include <visp3/visual_features/vpFeatureBuilder.h>
67 double alpha = t.
cP[0];
68 double beta = t.
cP[1];
69 double gamma = t.
cP[2];
76 double d = alpha * X0 + beta * Y0 + gamma * Z0;
134 #ifdef VISP_HAVE_MODULE_BLOB
156 unsigned int order = 3;
171 double m00 = m[0][0];
172 double m01 = m[0][1];
173 double m10 = m[1][0];
174 double m02 = m[0][2];
175 double m11 = m[1][1];
176 double m20 = m[2][0];
178 double xc = m10 / m00;
179 double yc = m01 / m00;
181 double mu20 = 4 * (m20 - m00 *
vpMath::sqr(xc)) / (m00);
182 double mu02 = 4 * (m02 - m00 *
vpMath::sqr(yc)) / (m00);
183 double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);
213 unsigned int order = 3;
228 double m00 = m[0][0];
229 double m01 = m[0][1];
230 double m10 = m[1][0];
231 double m02 = m[0][2];
232 double m11 = m[1][1];
233 double m20 = m[2][0];
235 double xc = m10 / m00;
236 double yc = m01 / m00;
238 double mu20 = 4 * (m20 - m00 *
vpMath::sqr(xc)) / (m00);
239 double mu02 = 4 * (m02 - m00 *
vpMath::sqr(yc)) / (m00);
240 double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);
248 #endif //#ifdef VISP_HAVE_MODULE_BLOB
250 #ifdef VISP_HAVE_MODULE_ME
272 unsigned int order = 3;
290 double m00 = m[0][0];
291 double m01 = m[0][1];
292 double m10 = m[1][0];
293 double m02 = m[0][2];
294 double m11 = m[1][1];
295 double m20 = m[2][0];
297 double xc = m10 / m00;
298 double yc = m01 / m00;
300 double mu20 = 4 * (m20 - m00 *
vpMath::sqr(xc)) / (m00);
301 double mu02 = 4 * (m02 - m00 *
vpMath::sqr(yc)) / (m00);
302 double mu11 = 4 * (m11 - m00 * xc * yc) / (m00);
310 #endif //#ifdef VISP_HAVE_MODULE_ME
Class that defines 2D ellipse visual feature.
void setABC(const double A, const double B, const double C)
static double sqr(double x)
Generic class defining intrinsic camera parameters.
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
static void convertMoment(const vpCameraParameters &cam, unsigned int order, const vpMatrix &moment_pixel, vpMatrix &moment_meter)
Class that defines what is a circle.
void buildFrom(const double x, const double y, const double mu20, const double mu11, const double mu02)
Implementation of a matrix and operations on matrices.
Class that tracks an ellipse moving edges.
Class that defines what is a sphere.
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.