49 #include <visp/vpPlane.h>
162 D=-(
A*P[0]+
B*P[1]+
C*P[2]);
197 double norm = sqrt(
A*
A+
B*
B+
C*
C) ;
274 Pproj.
set_Z(z0+C*rho) ;
289 if(std::fabs(M0.
get_X()) > std::numeric_limits<double>::epsilon()
290 || std::fabs(M0.
get_Y()) > std::numeric_limits<double>::epsilon()
291 || std::fabs(M0.
get_Z()) > std::numeric_limits<double>::epsilon())
299 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
304 H[0] = M0.
get_X()+ k*R[0];
305 H[1] = M0.
get_Y()+ k*R[1];
306 H[2] = M0.
get_Z()+ k*R[2];
312 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
330 scal =
A*M1[0] +
B*M1[1] +
C*M1[2];
332 if (std::fabs(scal) > std::numeric_limits<double>::epsilon())
355 double Ao =
A, Bo =
B, Co =
C, Do =
D ;
356 A = cMo[0][0]*Ao + cMo[0][1]*Bo + cMo[0][2]*Co;
357 B = cMo[1][0]*Ao + cMo[1][1]*Bo + cMo[1][2]*Co;
358 C = cMo[2][0]*Ao + cMo[2][1]*Bo + cMo[2][2]*Co;
359 D = Do - (cMo[0][3]*
A + cMo[1][3]*
B + cMo[2][3]*
C);