Visual Servoing Platform version 3.6.0
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vpFeatureBuilderPoint3D.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Conversion between tracker and visual feature 3D Point.
33 *
34*****************************************************************************/
35
41#include <visp3/core/vpException.h>
42#include <visp3/visual_features/vpFeatureBuilder.h>
43#include <visp3/visual_features/vpFeatureException.h>
44
60{
61 try {
62
63 s.set_X(t.cP[0] / t.cP[3]);
64 s.set_Y(t.cP[1] / t.cP[3]);
65 s.set_Z(t.cP[2] / t.cP[3]);
66
67 } catch (...) {
68 vpERROR_TRACE("Error caught");
69 throw;
70 }
71}
72
73/*
74 * Local variables:
75 * c-basic-offset: 2
76 * End:
77 */
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines the 3D point visual feature.
void set_X(double X)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
vpColVector cP
Definition vpTracker.h:72
#define vpERROR_TRACE
Definition vpDebug.h:388