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Visual Servoing Platform
version 3.2.0
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39 #include <visp3/core/vpDebug.h>
40 #include <visp3/core/vpFeatureDisplay.h>
41 #include <visp3/core/vpPoint.h>
137 }
else if (P.
size() == 4) {
164 }
else if (P.size() == 4) {
198 for (
unsigned int i = 0; i <
oP.
size(); i++)
220 _p[0] = _cP[0] / _cP[2];
221 _p[1] = _cP[1] / _cP[2];
238 _cP[0] = cMo[0][0] *
oP[0] + cMo[0][1] *
oP[1] + cMo[0][2] *
oP[2] + cMo[0][3] *
oP[3];
239 _cP[1] = cMo[1][0] *
oP[0] + cMo[1][1] *
oP[1] + cMo[1][2] *
oP[2] + cMo[1][3] *
oP[3];
240 _cP[2] = cMo[2][0] *
oP[0] + cMo[2][1] *
oP[1] + cMo[2][2] *
oP[2] + cMo[2][3] *
oP[3];
241 _cP[3] = cMo[3][0] *
oP[0] + cMo[3][1] *
oP[1] + cMo[3][2] *
oP[2] + cMo[3][3] *
oP[3];
243 double d = 1 / _cP[3];
261 double X = cMo[0][0] *
oP[0] + cMo[0][1] *
oP[1] + cMo[0][2] *
oP[2] + cMo[0][3] *
oP[3];
262 double Y = cMo[1][0] *
oP[0] + cMo[1][1] *
oP[1] + cMo[1][2] *
oP[2] + cMo[1][3] *
oP[3];
263 double Z = cMo[2][0] *
oP[0] + cMo[2][1] *
oP[1] + cMo[2][2] *
oP[2] + cMo[2][3] *
oP[3];
264 double W = cMo[3][0] *
oP[0] + cMo[3][1] *
oP[1] + cMo[3][2] *
oP[2] + cMo[3][3] *
oP[3];
296 v1[0] = aMb[0][0]*v[0] + aMb[0][1]*v[1]+ aMb[0][2]*v[2]+ aMb[0][3]*v[3] ;
297 v1[1] = aMb[1][0]*v[0] + aMb[1][1]*v[1]+ aMb[1][2]*v[2]+ aMb[1][3]*v[3] ;
298 v1[2] = aMb[2][0]*v[0] + aMb[2][1]*v[1]+ aMb[2][2]*v[2]+ aMb[2][3]*v[3] ;
299 v1[3] = aMb[3][0]*v[0] + aMb[3][1]*v[1]+ aMb[3][2]*v[2]+ aMb[3][3]*v[3] ;
336 v1[0] = aHb[0][0]*v[0] + aHb[0][1]*v[1]+ aHb[0][2]*v[2] ;
337 v1[1] = aHb[1][0]*v[0] + aHb[1][1]*v[1]+ aHb[1][2]*v[2] ;
338 v1[2] = aHb[2][0]*v[0] + aHb[2][1]*v[1]+ aHb[2][2]*v[2] ;
359 const vpColor &color,
const unsigned int thickness)
376 const vpColor &color,
const unsigned int thickness)
388 VISP_EXPORT std::ostream &
operator<<(std::ostream &os,
const vpPoint & ) {
return (os <<
"vpPoint"); }
404 const unsigned int thickness)
445 double d = 1 /
cP[2];
void resize(const unsigned int i, const bool flagNullify=true)
void set_Y(const double Y)
Set the point Y coordinate in the camera frame.
void setWorldCoordinates(const double oX, const double oY, const double oZ)
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
void init()
Basic construction.
void set_oZ(const double oZ)
Set the point Z coordinate in the object frame.
void set_x(const double x)
Set the point x coordinate in the image plane.
double get_oY() const
Get the point Y coordinate in the object frame.
Generic class defining intrinsic camera parameters.
double get_Z() const
Get the point Z coordinate in the camera frame.
double get_X() const
Get the point X coordinate in the camera frame.
vpPoint & operator=(const vpPoint &vpp)
void set_X(const double X)
Set the point X coordinate in the camera frame.
double get_x() const
Get the point x coordinate in the image plane.
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)
double get_oZ() const
Get the point Z coordinate in the object frame.
vpColVector operator*(const double &x, const vpColVector &v)
vpPoint()
Basic constructor.
double get_oX() const
Get the point X coordinate in the object frame.
void set_oY(const double oY)
Set the point Y coordinate in the object frame.
void set_w(const double w)
Set the point w coordinate in the image plane.
Implementation of column vector and the associated operations.
vpPoint * duplicate() const
For memory issue (used by the vpServo class only).
double get_w() const
Get the point w coordinate in the image plane.
void set_oW(const double oW)
Set the point W coordinate in the object frame.
double get_W() const
Get the point W coordinate in the camera frame.
vpColVector getWorldCoordinates(void)
Implementation of an homography and operations on homographies.
unsigned int size() const
Return the number of elements of the 2D array.
void set_oX(const double oX)
Set the point X coordinate in the object frame.
void set_y(const double y)
Set the point y coordinate in the image plane.
double get_oW() const
Get the point W coordinate in the object frame.
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
Class that defines what is a point.
Class to define colors available for display functionnalities.
void set_Z(const double Z)
Set the point Z coordinate in the camera frame.
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
double get_Y() const
Get the point Y coordinate in the camera frame.
double get_y() const
Get the point y coordinate in the image plane.
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
void set_W(const double W)
Set the point W coordinate in the camera frame.