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New override fixes
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@fspindle
fspindle committed Oct 25, 2023
1 parent 6f09e69 commit bbe3cb8
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Showing 3 changed files with 49 additions and 54 deletions.
94 changes: 42 additions & 52 deletions modules/core/src/tracking/forward-projection/vpPoint.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -132,13 +132,15 @@ void vpPoint::setWorldCoordinates(const vpColVector &oP_)
oP[1] = oP_[1];
oP[2] = oP_[2];
oP[3] = 1.;
} else if (oP_.size() == 4) {
}
else if (oP_.size() == 4) {
oP[0] = oP_[0];
oP[1] = oP_[1];
oP[2] = oP_[2];
oP[3] = oP_[3];
oP /= oP[3];
} else {
}
else {
throw(vpException(vpException::dimensionError, "Cannot initialize vpPoint from vector with size %d", oP_.size()));
}
}
Expand All @@ -160,13 +162,15 @@ void vpPoint::setWorldCoordinates(const std::vector<double> &oP_)
oP[1] = oP_[1];
oP[2] = oP_[2];
oP[3] = 1.;
} else if (oP_.size() == 4) {
}
else if (oP_.size() == 4) {
oP[0] = oP_[0];
oP[1] = oP_[1];
oP[2] = oP_[2];
oP[3] = oP_[3];
oP /= oP[3];
} else {
}
else {
throw(vpException(vpException::dimensionError, "Cannot initialize vpPoint from vector with size %d", oP_.size()));
}
}
Expand Down Expand Up @@ -283,36 +287,36 @@ void vpPoint::changeFrame(const vpHomogeneousMatrix &cMo)
frame are set to the same coordinates than the one in the camera frame.
*/
const vpPoint
operator*(const vpHomogeneousMatrix &aMb, const vpPoint& bP)
operator*(const vpHomogeneousMatrix &aMb, const vpPoint &bP)
{
vpPoint aP ;
vpPoint aP;

vpColVector v(4),v1(4) ;
vpColVector v(4), v1(4);

v[0] = bP.get_X() ;
v[1] = bP.get_Y() ;
v[2] = bP.get_Z() ;
v[3] = bP.get_W() ;
v[0] = bP.get_X();
v[1] = bP.get_Y();
v[2] = bP.get_Z();
v[3] = bP.get_W();

v1[0] = aMb[0][0]*v[0] + aMb[0][1]*v[1]+ aMb[0][2]*v[2]+ aMb[0][3]*v[3] ;
v1[1] = aMb[1][0]*v[0] + aMb[1][1]*v[1]+ aMb[1][2]*v[2]+ aMb[1][3]*v[3] ;
v1[2] = aMb[2][0]*v[0] + aMb[2][1]*v[1]+ aMb[2][2]*v[2]+ aMb[2][3]*v[3] ;
v1[3] = aMb[3][0]*v[0] + aMb[3][1]*v[1]+ aMb[3][2]*v[2]+ aMb[3][3]*v[3] ;
v1[0] = aMb[0][0]*v[0] + aMb[0][1]*v[1]+ aMb[0][2]*v[2]+ aMb[0][3]*v[3];
v1[1] = aMb[1][0]*v[0] + aMb[1][1]*v[1]+ aMb[1][2]*v[2]+ aMb[1][3]*v[3];
v1[2] = aMb[2][0]*v[0] + aMb[2][1]*v[1]+ aMb[2][2]*v[2]+ aMb[2][3]*v[3];
v1[3] = aMb[3][0]*v[0] + aMb[3][1]*v[1]+ aMb[3][2]*v[2]+ aMb[3][3]*v[3];

v1 /= v1[3] ;
v1 /= v1[3];

// v1 = M*v ;
aP.set_X(v1[0]) ;
aP.set_Y(v1[1]) ;
aP.set_Z(v1[2]) ;
aP.set_W(v1[3]) ;
aP.set_X(v1[0]);
aP.set_Y(v1[1]);
aP.set_Z(v1[2]);
aP.set_W(v1[3]);

aP.set_oX(v1[0]) ;
aP.set_oY(v1[1]) ;
aP.set_oZ(v1[2]) ;
aP.set_oW(v1[3]) ;
aP.set_oX(v1[0]);
aP.set_oY(v1[1]);
aP.set_oZ(v1[2]);
aP.set_oW(v1[3]);

return aP ;
return aP;
}

/*!
Expand All @@ -325,25 +329,25 @@ operator*(const vpHomogeneousMatrix &aMb, const vpPoint& bP)
\return A point with 2D coordinates in the image plane a.
*/
const vpPoint
operator*(const vpHomography &aHb, const vpPoint& bP)
operator*(const vpHomography &aHb, const vpPoint &bP)
{
vpPoint aP ;
vpColVector v(3),v1(3) ;
vpPoint aP;
vpColVector v(3), v1(3);

v[0] = bP.get_x() ;
v[1] = bP.get_y() ;
v[2] = bP.get_w() ;
v[0] = bP.get_x();
v[1] = bP.get_y();
v[2] = bP.get_w();

v1[0] = aHb[0][0]*v[0] + aHb[0][1]*v[1]+ aHb[0][2]*v[2] ;
v1[1] = aHb[1][0]*v[0] + aHb[1][1]*v[1]+ aHb[1][2]*v[2] ;
v1[2] = aHb[2][0]*v[0] + aHb[2][1]*v[1]+ aHb[2][2]*v[2] ;
v1[0] = aHb[0][0]*v[0] + aHb[0][1]*v[1]+ aHb[0][2]*v[2];
v1[1] = aHb[1][0]*v[0] + aHb[1][1]*v[1]+ aHb[1][2]*v[2];
v1[2] = aHb[2][0]*v[0] + aHb[2][1]*v[1]+ aHb[2][2]*v[2];

// v1 = M*v ;
aP.set_x(v1[0]) ;
aP.set_y(v1[1]) ;
aP.set_w(v1[2]) ;
aP.set_x(v1[0]);
aP.set_y(v1[1]);
aP.set_w(v1[2]);

return aP ;
return aP;
}
#endif
//! For memory issue (used by the vpServo class only).
Expand Down Expand Up @@ -402,20 +406,6 @@ void vpPoint::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
vpFeatureDisplay::displayPoint(_p[0], _p[1], cam, I, color, thickness);
}

VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPoint & /* vpp */) { return (os << "vpPoint"); }

#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
vpPoint &vpPoint::operator=(const vpPoint &vpp)
{
p = vpp.p;
cP = vpp.cP;
oP = vpp.oP;
cPAvailable = vpp.cPAvailable;

return *this;
}
#endif

/*!
* Display the projection of a 3D point in image \e I.
*
Expand Down
7 changes: 6 additions & 1 deletion modules/tracker/mbt/include/visp3/mbt/vpMbGenericTracker.h
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Original file line number Diff line number Diff line change
Expand Up @@ -782,8 +782,13 @@ class VISP_EXPORT vpMbGenericTracker : public vpMbTracker
#endif
using vpMbDepthDenseTracker::setPose;
#endif
virtual void setPose(const vpImage<unsigned char> *const I, const vpImage<vpRGBa> *const I_color,
#if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
virtual void setPose(const vpImage<unsigned char> *I, const vpImage<vpRGBa> *I_color,
const vpHomogeneousMatrix &cdMo) override;
#else
virtual void setPose(const vpImage<unsigned char> *I, const vpImage<vpRGBa> *I_color,
const vpHomogeneousMatrix &cdMo);
#endif
};
#ifdef VISP_HAVE_NLOHMANN_JSON
friend void to_json(nlohmann::json &j, const TrackerWrapper &t);
Expand Down
2 changes: 1 addition & 1 deletion modules/tracker/mbt/include/visp3/mbt/vpMbKltTracker.h
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Original file line number Diff line number Diff line change
Expand Up @@ -468,7 +468,7 @@ class VISP_EXPORT vpMbKltTracker : public virtual vpMbTracker
void preTracking(const vpImage<unsigned char> &I);
bool postTracking(const vpImage<unsigned char> &I, vpColVector &w);
virtual void reinit(const vpImage<unsigned char> &I);
virtual void setPose(const vpImage<unsigned char> *const I, const vpImage<vpRGBa> *const I_color,
virtual void setPose(const vpImage<unsigned char> *I, const vpImage<vpRGBa> *I_color,
const vpHomogeneousMatrix &cdMo);
//@}
};
Expand Down

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