vpFeatureBuilderPoint3D.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Conversion between tracker and visual feature 3D Point.
 *
*****************************************************************************/
 
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpException.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureException.h>
 
BEGIN_VISP_NAMESPACE
void vpFeatureBuilder::create(vpFeaturePoint3D &s, const vpPoint &t)
{
  try {
 
    s.set_X(t.cP[0] / t.cP[3]);
    s.set_Y(t.cP[1] / t.cP[3]);
    s.set_Z(t.cP[2] / t.cP[3]);
 
  }
  catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
END_VISP_NAMESPACE