47 #ifndef vpCameraParameters_H 48 #define vpCameraParameters_H 52 #include <visp3/core/vpColVector.h> 53 #include <visp3/core/vpConfig.h> 54 #include <visp3/core/vpDebug.h> 55 #include <visp3/core/vpMatrix.h> 239 perspectiveProjWithoutDistortion,
240 perspectiveProjWithDistortion
248 vpCameraParameters(
const double px,
const double py,
const double u0,
const double v0);
249 vpCameraParameters(
const double px,
const double py,
const double u0,
const double v0,
const double kud,
257 void initFromCalibrationMatrix(
const vpMatrix &_K);
258 void initFromFov(
const unsigned int &w,
const unsigned int &h,
const double &hfov,
const double &vfov);
259 void initPersProjWithoutDistortion(
const double px,
const double py,
const double u0,
const double v0);
260 void initPersProjWithDistortion(
const double px,
const double py,
const double u0,
const double v0,
const double kud,
272 void computeFov(
const unsigned int &w,
const unsigned int &h);
284 vpTRACE(
"Warning: The FOV is not computed, getHorizontalFovAngle() " 285 "won't be significant.");
299 vpTRACE(
"Warning: The FOV is not computed, getVerticalFovAngle() won't " 319 vpTRACE(
"Warning: The FOV is not computed, getFovNormals() won't be " 324 inline double get_px()
const {
return px; }
327 inline double get_py()
const {
return py; }
328 inline double get_u0()
const {
return u0; }
329 inline double get_v0()
const {
return v0; }
333 inline vpCameraParametersProjType
get_projModel()
const {
return projModel; }
338 void printParameters();
339 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpCameraParameters &cam);
342 static const double DEFAULT_U0_PARAMETER;
343 static const double DEFAULT_V0_PARAMETER;
344 static const double DEFAULT_PX_PARAMETER;
345 static const double DEFAULT_PY_PARAMETER;
346 static const double DEFAULT_KUD_PARAMETER;
347 static const double DEFAULT_KDU_PARAMETER;
348 static const vpCameraParametersProjType DEFAULT_PROJ_TYPE;
360 std::vector<vpColVector> fovNormals;
362 double inv_px, inv_py;
364 vpCameraParametersProjType projModel;
Implementation of a matrix and operations on matrices.
vpCameraParametersProjType get_projModel() const
double getHorizontalFovAngle() const
bool isFovComputed() const
double get_py_inverse() const
vpCameraParametersProjType
Generic class defining intrinsic camera parameters.
std::vector< vpColVector > getFovNormals() const
Conversion from normalized coordinates in meter to pixel coordinates .
double get_px_inverse() const
double getVerticalFovAngle() const
Conversion from pixel coordinates to normalized coordinates in meter.