55 #include <visp/vpHomogeneousMatrix.h>
56 #include <visp/vpHomography.h>
57 #include <visp/vpPoint.h>
58 #include <visp/vpRGBa.h>
59 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
60 # include <visp/vpList.h>
109 bool computeCovariance;
113 int ransacNbInlierConsensus;
115 std::vector<vpPoint> ransacInliers;
116 double ransacThreshold;
130 void addPoint(
const vpPoint& P) ;
140 double computeResidual() ;
169 void setDistanceToPlaneForCoplanarityTest(
double d) ;
194 if(!computeCovariance)
195 vpTRACE(
"Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
197 return covarianceMatrix;
211 static void findMatch(std::vector<vpPoint> &p2D,
212 std::vector<vpPoint> &p3D,
213 const int &numberOfInlierToReachAConsensus,
214 const double &threshold,
215 unsigned int &ninliers,
216 std::vector<vpPoint> &listInliers,
218 const int &maxNbTrials = 10000);
220 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
225 static void initRansac(
const unsigned int n,
226 const double *x,
const double *y,
227 const unsigned int m,
228 const double *X,
const double *Y,
const double *Z,
236 static bool degenerateConfiguration(
vpColVector &x,
unsigned int *ind) ;
238 static void ransac(
const unsigned int n,
239 const double *x,
const double *y,
240 const unsigned int m,
241 const double *X,
const double *Y,
const double *Z,
242 const int numberOfInlierToReachAConsensus,
243 const double threshold,
244 unsigned int &ninliers,
249 vp_deprecated
static void ransac(
const unsigned int n,
251 const unsigned int m,
253 const int numberOfInlierToReachAConsensus,
254 const double threshold,
255 unsigned int &ninliers,
256 std::list<vpPoint> &Pi,
259 vp_deprecated
static void ransac(std::list<vpPoint> &p,
260 std::list<vpPoint> &P,
261 const int numberOfInlierToReachAConsensus,
262 const double threshold,
263 unsigned int &ninliers,
264 std::list<vpPoint> &lPi,
Definition of the vpMatrix class.
double residual
compute the residual in meter
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Class to define colors available for display functionnalities.
static const vpColor none
void setRansacThreshold(const double &t)
std::list< vpPoint > listP
array of point (use here class vpPoint)
Class that defines what is a point.
double lambda
parameters use for the virtual visual servoing approach
std::vector< vpPoint > getRansacInliers()
Class used for pose computation from N points (pose from point only).
Generic class defining intrinsic camera parameters.
void setRansacNbInliersToReachConsensus(const int &nbC)
double distanceToPlaneForCoplanarityTest
vpMatrix getCovarianceMatrix() const
void setVvsIterMax(int nb)
unsigned int npt
number of point used in pose computation
void setRansacMaxTrials(const int &rM)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void setCovarianceComputation(const bool &flag)