43 #include <visp/vpSphere.h>
44 #include <visp/vpFeatureDisplay.h>
65 const double Z0,
const double R)
88 const double Z0,
const double R)
115 double s, a, b, r, e;
123 s = r*r - y0*y0 -z0*z0;
131 if ((s = z0*z0 - r*r) < 0.0)
144 if ((a = x0*x0 + y0*y0 + z0*z0 - r*r) < 0.0)
167 B = r*sqrt(y0*y0+z0*z0-r*r)/s;
170 p[2] = ( A*A + B*B * E*E) / (1.0 + E*E);
171 p[3] = ( A*A - B*B) * E / (1.0 + E*E);
172 p[4] = ( B*B + A*A * E*E) / (1.0 + E*E);
194 x0 = cMo[0][0]*
oP[0] + cMo[0][1]*
oP[1] + cMo[0][2]*
oP[2] + cMo[0][3];
195 y0 = cMo[1][0]*
oP[0] + cMo[1][1]*
oP[1] + cMo[1][2]*
oP[2] + cMo[1][3];
196 z0 = cMo[2][0]*
oP[0] + cMo[2][1]*
oP[1] + cMo[2][2]*
oP[2] + cMo[2][3];
221 const unsigned int thickness)
227 cam, I, color, thickness) ;
236 const unsigned int thickness)
239 cam, I, color, thickness) ;