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];
vpPoint()
Basic constructor.
void set_oZ(const double oZ)
Set the point Z coordinate in the object frame.
void init()
Basic construction.
vpColVector getWorldCoordinates(void)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)
double get_oY() const
Get the point Y coordinate in the object frame.
error that can be emited by ViSP classes.
void set_x(const double x)
Set the point x coordinate in the image plane.
unsigned int size() const
Return the number of elements of the 2D array.
double get_y() const
Get the point y coordinate in the image plane.
double get_w() const
Get the point w coordinate in the image plane.
void set_X(const double X)
Set the point X coordinate in the camera frame.
double get_W() const
Get the point W coordinate in the camera frame.
static void displayPoint(double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Class that defines what is a point.
vpColVector operator*(const double &x, const vpColVector &v)
void set_oW(const double oW)
Set the point W coordinate in the object frame.
Implementation of an homography and operations on homographies.
void set_Z(const double Z)
Set the point Z coordinate in the camera frame.
vpPoint & operator=(const vpPoint &vpp)
void set_W(const double W)
Set the point W coordinate in the camera frame.
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpPoint &vpp)
Generic class defining intrinsic camera parameters.
double get_oZ() const
Get the point Z coordinate in the object frame.
void set_y(const double y)
Set the point y coordinate in the image plane.
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 camera frame.
void set_w(const double w)
Set the point w coordinate in the image plane.
double get_x() const
Get the point x coordinate in the image plane.
vpPoint * duplicate() const
For memory issue (used by the vpServo class only).
double get_Y() const
Get the point Y coordinate in the camera frame.
double get_Z() const
Get the point Z coordinate in the camera frame.
double get_oX() const
Get the point X coordinate in the object frame.
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
void set_oY(const double oY)
Set the point Y coordinate in the object frame.
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
double get_X() const
Get the point X coordinate in the camera frame.
double get_oW() const
Get the point W coordinate in the object frame.
void resize(const unsigned int i, const bool flagNullify=true)