36 #include <visp3/core/vpFeatureDisplay.h>
37 #include <visp3/core/vpSphere.h>
154 s = r * r - y0 * y0 - z0 * z0;
156 if ((s = z0 * z0 - r * r) < 0.0) {
163 if (fabs(x0) > 1e-6) {
165 double b = r / sqrt(s);
166 double a = x0 * x0 + y0 * y0 + z0 * z0 - r * r;
171 if (fabs(e) <= 1.0) {
183 B = r * sqrt(y0 * y0 + z0 * z0 - r * r) / s;
218 x0 = cMo[0][0] *
oP[0] + cMo[0][1] *
oP[1] + cMo[0][2] *
oP[2] + cMo[0][3];
219 y0 = cMo[1][0] *
oP[0] + cMo[1][1] *
oP[1] + cMo[1][2] *
oP[2] + cMo[1][3];
220 z0 = cMo[2][0] *
oP[0] + cMo[2][1] *
oP[1] + cMo[2][2] *
oP[2] + cMo[2][3];
248 const vpColor &color,
unsigned int thickness)
268 const vpColor &color,
unsigned int thickness)
285 unsigned int thickness)
299 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 functionalities.
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).