42 #include <visp3/core/vpMath.h>
43 #include <visp3/visual_features/vpFeatureBuilder.h>
63 if (fabs(t.
cP[3]) > fabs(t.
cP[7]))
106 double x0 = t.
getX();
107 double y0 = t.
getY();
108 double z0 = t.
getZ();
115 double alpha1 = (1 - a * a) * x0 - a * b * y0 - a * c * z0;
116 double beta1 = -a * b * x0 + (1 - b * b) * y0 - b * c * z0;
117 double gamma1 = -a * c * x0 - b * c * y0 + (1 - c * c) * z0;
128 s.
setABCD(alpha1, beta1, gamma1, D);
144 #ifdef VISP_HAVE_MODULE_ME
200 if (thetap >= 0 && thetap < M_PI / 2) {
201 thetap = M_PI / 2 - thetap;
204 else if (thetap >= M_PI / 2 && thetap < 3 * M_PI / 2) {
205 thetap = 3 * M_PI / 2 + M_PI - thetap;
208 else if (thetap >= 3 * M_PI / 2 && thetap <= 2 * M_PI) {
209 thetap = M_PI / 2 + 2 * M_PI - thetap;
218 while (theta > M_PI) {
221 while (theta < -M_PI) {
Generic class defining intrinsic camera parameters.
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void setRhoTheta(double rho, double theta)
void buildFrom(double rho, double theta)
void setABCD(double A, double B, double C, double D)
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
static double sqr(double x)
Class that tracks in an image a line moving edges.
static void convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m, double &theta_m)