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 unsigned int ransacNbInlierConsensus;
115 std::vector<vpPoint> ransacInliers;
116 double ransacThreshold;
130 void addPoint(
const vpPoint& P) ;
140 bool coplanar(
int &coplanar_plane_type) ;
167 void setDistanceToPlaneForCoplanarityTest(
double d) ;
192 if(!computeCovariance)
193 vpTRACE(
"Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
195 return covarianceMatrix;
209 static void findMatch(std::vector<vpPoint> &p2D,
210 std::vector<vpPoint> &p3D,
211 const unsigned int &numberOfInlierToReachAConsensus,
212 const double &threshold,
213 unsigned int &ninliers,
214 std::vector<vpPoint> &listInliers,
216 const int &maxNbTrials = 10000);
218 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
223 static void initRansac(
const unsigned int n,
224 const double *x,
const double *y,
225 const unsigned int m,
226 const double *X,
const double *Y,
const double *Z,
234 static bool degenerateConfiguration(
vpColVector &x,
unsigned int *ind) ;
236 static void ransac(
const unsigned int n,
237 const double *x,
const double *y,
238 const unsigned int m,
239 const double *X,
const double *Y,
const double *Z,
240 const int numberOfInlierToReachAConsensus,
241 const double threshold,
242 unsigned int &ninliers,
247 vp_deprecated
static void ransac(
const unsigned int n,
249 const unsigned int m,
251 const int numberOfInlierToReachAConsensus,
252 const double threshold,
253 unsigned int &ninliers,
254 std::list<vpPoint> &Pi,
257 vp_deprecated
static void ransac(std::list<vpPoint> &p,
258 std::list<vpPoint> &P,
259 const int numberOfInlierToReachAConsensus,
260 const double threshold,
261 unsigned int &ninliers,
262 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.
double distanceToPlaneForCoplanarityTest
vpMatrix getCovarianceMatrix() const
void setVvsIterMax(int nb)
unsigned int npt
number of point used in pose computation
void setRansacMaxTrials(const int &rM)
void setRansacNbInliersToReachConsensus(const unsigned int &nbC)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
unsigned int getRansacNbInliers()
void setCovarianceComputation(const bool &flag)