51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/vision/vpHomography.h>
53 #include <visp3/core/vpPoint.h>
54 #include <visp3/core/vpRGBa.h>
55 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
56 # include <visp3/core/vpList.h>
100 std::vector<vpPoint> c3d ;
103 bool computeCovariance;
107 unsigned int ransacNbInlierConsensus;
109 std::vector<vpPoint> ransacInliers;
110 std::vector<unsigned int> ransacInlierIndex;
111 double ransacThreshold;
125 void addPoint(
const vpPoint& P) ;
135 bool coplanar(
int &coplanar_plane_type) ;
162 void setDistanceToPlaneForCoplanarityTest(
double d) ;
195 if(!computeCovariance)
196 vpTRACE(
"Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
198 return covarianceMatrix;
212 static void findMatch(std::vector<vpPoint> &p2D,
213 std::vector<vpPoint> &p3D,
214 const unsigned int &numberOfInlierToReachAConsensus,
215 const double &threshold,
216 unsigned int &ninliers,
217 std::vector<vpPoint> &listInliers,
219 const int &maxNbTrials = 10000);
Implementation of a matrix and operations on matrices.
double residual
compute the residual in meter
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
static const vpColor none
error that can be emited by ViSP classes.
void setRansacThreshold(const double &t)
std::vector< unsigned int > getRansacInlierIndex() const
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
unsigned int getRansacNbInliers() const
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)
Implementation of column vector and the associated operations.
std::vector< vpPoint > getRansacInliers() const
void setCovarianceComputation(const bool &flag)