48 #ifndef vpCameraParameters_H
49 #define vpCameraParameters_H
53 #include <visp3/core/vpConfig.h>
54 #include <visp3/core/vpMatrix.h>
55 #include <visp3/core/vpColVector.h>
56 #include <visp3/core/vpDebug.h>
228 perspectiveProjWithDistortion
229 } vpCameraParametersProjType ;
236 const double u0,
const double v0) ;
238 const double u0,
const double v0,
239 const double kud,
const double kdu) ;
246 void initFromCalibrationMatrix(
const vpMatrix& _K);
247 void initFromFov(
const unsigned int &w,
const unsigned int &h,
const double &hfov,
const double &vfov);
248 void initPersProjWithoutDistortion(
const double px,
const double py,
const double u0,
const double v0);
249 void initPersProjWithDistortion(
const double px,
const double py,
const double u0,
const double v0,
250 const double kud,
const double kdu) ;
261 void computeFov(
const unsigned int &w,
const unsigned int &h);
271 if(!isFov)
vpTRACE(
"Warning: The FOV is not computed, getHorizontalFovAngle() won't be significant.");
283 if(!isFov)
vpTRACE(
"Warning: The FOV is not computed, getVerticalFovAngle() won't be significant.");
299 if(!isFov)
vpTRACE(
"Warning: The FOV is not computed, getFovNormals() won't be significant.");
303 inline double get_px()
const {
return px; }
306 inline double get_py()
const {
return py; }
307 inline double get_u0()
const {
return u0; }
308 inline double get_v0()
const {
return v0; }
319 void printParameters() ;
320 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpCameraParameters &cam);
323 static const double DEFAULT_U0_PARAMETER;
324 static const double DEFAULT_V0_PARAMETER;
325 static const double DEFAULT_PX_PARAMETER;
326 static const double DEFAULT_PY_PARAMETER;
327 static const double DEFAULT_KUD_PARAMETER;
328 static const double DEFAULT_KDU_PARAMETER;
329 static const vpCameraParametersProjType DEFAULT_PROJ_TYPE;
338 unsigned int height ;
342 std::vector<vpColVector> fovNormals ;
344 double inv_px, inv_py;
346 vpCameraParametersProjType projModel ;
Implementation of a matrix and operations on matrices.
double getHorizontalFovAngle() const
Perspective projection without distortion model.
double get_px_inverse() const
bool isFovComputed() const
double get_py_inverse() const
vpCameraParametersProjType
Generic class defining intrinsic camera parameters.
Conversion from normalized coordinates in meter to pixel coordinates .
vpCameraParametersProjType get_projModel() const
std::vector< vpColVector > getFovNormals() const
double getVerticalFovAngle() const
Conversion from pixel coordinates to normalized coordinates in meter.