39 #include <visp3/core/vpFeatureDisplay.h>
40 #include <visp3/core/vpSphere.h>
157 s = r * r - y0 * y0 - z0 * z0;
159 if ((s = z0 * z0 - r * r) < 0.0) {
166 if (fabs(x0) > 1e-6) {
168 double b = r / sqrt(s);
169 double a = x0 * x0 + y0 * y0 + z0 * z0 - r * r;
174 if (fabs(e) <= 1.0) {
186 B = r * sqrt(y0 * y0 + z0 * z0 - r * r) / s;
221 x0 = cMo[0][0] *
oP[0] + cMo[0][1] *
oP[1] + cMo[0][2] *
oP[2] + cMo[0][3];
222 y0 = cMo[1][0] *
oP[0] + cMo[1][1] *
oP[1] + cMo[1][2] *
oP[2] + cMo[1][3];
223 z0 = cMo[2][0] *
oP[0] + cMo[2][1] *
oP[1] + cMo[2][2] *
oP[2] + cMo[2][3];
251 const vpColor &color,
unsigned int thickness)
271 const vpColor &color,
unsigned int thickness)
288 unsigned int thickness)
302 unsigned int thickness)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionnalities.
static void displayEllipse(double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double sqr(double x)
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void setWorldCoordinates(const vpColVector &oP)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
vpSphere * duplicate() const
For memory issue (used by the vpServo class only).