45 #include <visp3/core/vpMath.h>
46 #include <visp3/visual_features/vpFeatureBuilder.h>
66 if (fabs(t.
cP[3]) > fabs(t.
cP[7]))
109 double x0 = t.
getX();
110 double y0 = t.
getY();
111 double z0 = t.
getZ();
118 double alpha1 = (1 - a * a) * x0 - a * b * y0 - a * c * z0;
119 double beta1 = -a * b * x0 + (1 - b * b) * y0 - b * c * z0;
120 double gamma1 = -a * c * x0 - b * c * y0 + (1 - c * c) * z0;
131 s.
setABCD(alpha1, beta1, gamma1, D);
147 #ifdef VISP_HAVE_MODULE_ME
203 if (thetap >= 0 && thetap < M_PI / 2) {
204 thetap = M_PI / 2 - thetap;
207 else if (thetap >= M_PI / 2 && thetap < 3 * M_PI / 2) {
208 thetap = 3 * M_PI / 2 + M_PI - thetap;
211 else if (thetap >= 3 * M_PI / 2 && thetap <= 2 * M_PI) {
212 thetap = M_PI / 2 + 2 * M_PI - thetap;
221 while (theta > M_PI) {
224 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)