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Visual Servoing Platform
version 3.2.0
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44 #include <visp3/core/vpException.h>
45 #include <visp3/visual_features/vpFeatureBuilder.h>
46 #include <visp3/visual_features/vpFeatureException.h>
95 theta_r = L2.getTheta();
104 if (fabs(theta_r - theta_l) < min || fabs(fabs(theta_r - theta_l) - M_PI) < min ||
105 fabs(fabs(theta_r - theta_l) - 2 * M_PI) < min) {
106 vpCERROR <<
"There is no vanishing point : the lines are parallel in the "
110 "parallel in the image plane"));
113 y = (rho_r * c_l - rho_l * c_r) / (-s_l * c_r + s_r * c_l);
114 x = (rho_r * s_l - rho_l * s_r) / (-c_l * s_r + c_r * s_l);
double get_x() const
Get the point x coordinate in the image plane.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D vanishing point visual feature (Z coordinate in 3D space is infinity).
Error that can be emited by the vpBasicFeature class and its derivates.
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Class that defines a line in the object frame, the camera frame and the image plane....
void set_x(const double _x)
Set the point x-coordinates.
void set_y(const double _y)
Set the point y-coordinates.
Class that defines what is a point.
double get_y() const
Get the point y coordinate in the image plane.