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>
107 bool computeCovariance;
111 unsigned int ransacNbInlierConsensus;
113 std::vector<vpPoint> ransacInliers;
114 double ransacThreshold;
128 void addPoint(
const vpPoint& P) ;
138 bool coplanar(
int &coplanar_plane_type) ;
165 void setDistanceToPlaneForCoplanarityTest(
double d) ;
190 if(!computeCovariance)
191 vpTRACE(
"Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
193 return covarianceMatrix;
207 static void findMatch(std::vector<vpPoint> &p2D,
208 std::vector<vpPoint> &p3D,
209 const unsigned int &numberOfInlierToReachAConsensus,
210 const double &threshold,
211 unsigned int &ninliers,
212 std::vector<vpPoint> &listInliers,
214 const int &maxNbTrials = 10000);
216 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
221 static void initRansac(
const unsigned int n,
222 const double *x,
const double *y,
223 const unsigned int m,
224 const double *X,
const double *Y,
const double *Z,
232 static bool degenerateConfiguration(
vpColVector &x,
unsigned int *ind) ;
234 static void ransac(
const unsigned int n,
235 const double *x,
const double *y,
236 const unsigned int m,
237 const double *X,
const double *Y,
const double *Z,
238 const int numberOfInlierToReachAConsensus,
239 const double threshold,
240 unsigned int &ninliers,
245 vp_deprecated
static void ransac(
const unsigned int n,
247 const unsigned int m,
249 const int numberOfInlierToReachAConsensus,
250 const double threshold,
251 unsigned int &ninliers,
252 std::list<vpPoint> &Pi,
255 vp_deprecated
static void ransac(std::list<vpPoint> &p,
256 std::list<vpPoint> &P,
257 const int numberOfInlierToReachAConsensus,
258 const double threshold,
259 unsigned int &ninliers,
260 std::list<vpPoint> &lPi,