55 #include <visp/vpHomogeneousMatrix.h>
56 #include <visp/vpHomography.h>
57 #include <visp/vpPoint.h>
58 #include <visp/vpRGBa.h>
59 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
60 # include <visp/vpList.h>
109 bool computeCovariance;
113 unsigned int ransacNbInlierConsensus;
115 std::vector<vpPoint> ransacInliers;
116 double ransacThreshold;
130 void addPoint(
const vpPoint& P) ;
140 bool coplanar(
int &coplanar_plane_type) ;
167 void setDistanceToPlaneForCoplanarityTest(
double d) ;
192 if(!computeCovariance)
193 vpTRACE(
"Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
195 return covarianceMatrix;
209 static void findMatch(std::vector<vpPoint> &p2D,
210 std::vector<vpPoint> &p3D,
211 const unsigned int &numberOfInlierToReachAConsensus,
212 const double &threshold,
213 unsigned int &ninliers,
214 std::vector<vpPoint> &listInliers,
216 const int &maxNbTrials = 10000);
218 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
223 static void initRansac(
const unsigned int n,
224 const double *x,
const double *y,
225 const unsigned int m,
226 const double *X,
const double *Y,
const double *Z,
234 static bool degenerateConfiguration(
vpColVector &x,
unsigned int *ind) ;
236 static void ransac(
const unsigned int n,
237 const double *x,
const double *y,
238 const unsigned int m,
239 const double *X,
const double *Y,
const double *Z,
240 const int numberOfInlierToReachAConsensus,
241 const double threshold,
242 unsigned int &ninliers,
247 vp_deprecated
static void ransac(
const unsigned int n,
249 const unsigned int m,
251 const int numberOfInlierToReachAConsensus,
252 const double threshold,
253 unsigned int &ninliers,
254 std::list<vpPoint> &Pi,
257 vp_deprecated
static void ransac(std::list<vpPoint> &p,
258 std::list<vpPoint> &P,
259 const int numberOfInlierToReachAConsensus,
260 const double threshold,
261 unsigned int &ninliers,
262 std::list<vpPoint> &lPi,