#include <vpPixelMeterConversion.h>

Static Public Member Functions
static void	convertPoint (const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)

static void	convertPoint (const vpCameraParameters &cam, const vpImagePoint &iP, double &x, double &y)

static void	convertPointWithoutDistortion (const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)

static void	convertPointWithoutDistortion (const vpCameraParameters &cam, const vpImagePoint &iP, double &x, double &y)

static void	convertPointWithDistortion (const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)

static void	convertPointWithDistortion (const vpCameraParameters &cam, const vpImagePoint &iP, double &x, double &y)

static void	convertLine (const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m, double &theta_m)

static void	convertMoment (const vpCameraParameters &cam, unsigned int order, const vpMatrix &moment_pixel, vpMatrix &moment_meter)

Detailed Description

Conversion from pixel coordinates $(u,v)$ to normalized coordinates $(x,y)$ in meter.

This class relates to vpCameraParameters.

Definition at line 69 of file vpPixelMeterConversion.h.

Member Function Documentation

void vpPixelMeterConversion::convertLine	(	const vpCameraParameters &	cam,
		const double &	rho_p,
		const double &	theta_p,
		double &	rho_m,
		double &	theta_m
	)

static

line coordinates conversion (rho,theta)

Definition at line 56 of file vpPixelMeterConversion.cpp.

References vpException::divideByZeroError, vpMath::sqr(), and vpERROR_TRACE.

Referenced by vpFeatureBuilder::create().

void vpPixelMeterConversion::convertMoment	(	const vpCameraParameters &	cam,
		unsigned int	order,
		const vpMatrix &	moment_pixel,
		vpMatrix &	moment_meter
	)

static

Definition at line 76 of file vpPixelMeterConversion.cpp.

References vpMath::comb().

Referenced by vpFeatureBuilder::create().

static void vpPixelMeterConversion::convertPoint	(	const vpCameraParameters &	cam,
		const double &	u,
		const double &	v,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion from pixel coordinates $(u,v)$ to normalized coordinates $(x,y)$ in meter.

The used formula depends on the projection model of the camera. To know the currently used projection model use vpCameraParameter::get_projModel()

Parameters

cam	: camera parameters.
u,v	: input coordinates in pixels.
x,y	: output coordinates in meter.

$ x = (u-u_0)/p_x $ and $ y = (v-v_0)/p_y $ in the case of perspective projection without distortion.

$x = (u-u_0)*(1+k_{du}*r^2)/p_x$ and $y = (v-v_0)*(1+k_{du}*r^2)/p_y$ with $ r^2=((u - u_0)/p_x)^2+((v-v_0)/p_y)^2 $ in the case of perspective projection with distortion.

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-pose-from-points-image.cpp, and tutorial-pose-from-points-tracking.cpp.

Definition at line 94 of file vpPixelMeterConversion.h.

References vpCameraParameters::perspectiveProjWithDistortion, and vpCameraParameters::perspectiveProjWithoutDistortion.

Referenced by vpFeatureLuminance::buildFrom(), vpMbtKltPolygon::computeInteractionMatrixAndResidu(), vpFeatureBuilder::create(), vpMomentObject::fromImage(), vpImageSimulator::getImage(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), and vpKinect::warpRGBFrame().

static void vpPixelMeterConversion::convertPoint	(	const vpCameraParameters &	cam,
		const vpImagePoint &	iP,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion from pixel coordinates Coordinates in pixel to normalized coordinates $(x,y)$ in meter.

The used formula depends on the projection model of the camera. To know the currently used projection model use vpCameraParameter::get_projModel()

Parameters

cam	: camera parameters.
iP	: input coordinates in pixels.
x,y	: output coordinates in meter.

Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :

$ x = (u-u_0)/p_x $ and $ y = (v-v_0)/p_y $ in the case of perspective projection without distortion.

$x = (u-u_0)*(1+k_{du}*r^2)/p_x$ and $y = (v-v_0)*(1+k_{du}*r^2)/p_y$ with $ r^2=((u - u_0)/p_x)^2+((v-v_0)/p_y)^2 $ in the case of perspective projection with distortion.

Definition at line 131 of file vpPixelMeterConversion.h.

References vpCameraParameters::perspectiveProjWithDistortion, and vpCameraParameters::perspectiveProjWithoutDistortion.

static void vpPixelMeterConversion::convertPointWithDistortion	(	const vpCameraParameters &	cam,
		const double &	u,
		const double &	v,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion with distortion from pixel coordinates $(u,v)$ to normalized coordinates $(x,y)$ in meter.

Parameters

cam	: camera parameters.
u,v	: input coordinates in pixels.
x,y	: output coordinates in meter.

$x = (u-u_0)*(1+k_{du}*r^2)/p_x$ and $y = (v-v_0)*(1+k_{du}*r^2)/p_y$ with $ r^2=((u - u_0)/p_x)^2 + ((v-v_0)/p_y)^2 $

Definition at line 200 of file vpPixelMeterConversion.h.

References vpMath::sqr().

static void vpPixelMeterConversion::convertPointWithDistortion	(	const vpCameraParameters &	cam,
		const vpImagePoint &	iP,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion with distortion from pixel coordinates Coordinates in pixel to normalized coordinates $(x,y)$ in meter.

Parameters

cam	: camera parameters.
iP	: input coordinates in pixels.
x,y	: output coordinates in meter.

Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :

$x = (u-u_0)*(1+k_{du}*r^2)/p_x$ and $y = (v-v_0)*(1+k_{du}*r^2)/p_y$ with $ r^2=((u - u_0)/p_x)^2 + ((v-v_0)/p_y)^2 $

Definition at line 226 of file vpPixelMeterConversion.h.

References vpImagePoint::get_u(), vpImagePoint::get_v(), and vpMath::sqr().

static void vpPixelMeterConversion::convertPointWithoutDistortion	(	const vpCameraParameters &	cam,
		const double &	u,
		const double &	v,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion without distortion from pixel coordinates $(u,v)$ to normalized coordinates $(x,y)$ in meter.

Parameters

cam	: camera parameters.
u,v	: input coordinates in pixels.
x,y	: output coordinates in meter.

$ x = (u-u_0)/p_x $ and $ y = (v-v_0)/p_y $

Definition at line 156 of file vpPixelMeterConversion.h.

static void vpPixelMeterConversion::convertPointWithoutDistortion	(	const vpCameraParameters &	cam,
		const vpImagePoint &	iP,
		double &	x,
		double &	y
	)

inlinestatic

Point coordinates conversion without distortion from pixel coordinates Coordinates in pixel to normalized coordinates $(x,y)$ in meter.

Parameters

cam	: camera parameters.
iP	: input coordinates in pixels.
x,y	: output coordinates in meter.

Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :

$ x = (u-u_0)/p_x $ and $ y = (v-v_0)/p_y $

Definition at line 178 of file vpPixelMeterConversion.h.

References vpImagePoint::get_u(), and vpImagePoint::get_v().

Static Public Member Functions

Detailed Description

Member Function Documentation