#include <vpMeterPixelConversion.h>

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

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

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

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

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

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

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

Detailed Description

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

This class relates to vpCameraParameters.

Definition at line 70 of file vpMeterPixelConversion.h.

Member Function Documentation

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

static

line coordinates conversion (rho,theta)

Definition at line 56 of file vpMeterPixelConversion.cpp.

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

Referenced by vpMbtDistanceCylinder::display(), vpFeatureDisplay::displayLine(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

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

inlinestatic

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

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

$ u = x*p_x + u_0 $ and $ v = y*p_y + v_0 $ in the case of perspective projection without distortion.

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

Examples:: tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 96 of file vpMeterPixelConversion.h.

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

Referenced by vpPolygon::buildFrom(), vpFeatureBuilder::create(), vpFeatureSegment::display(), vpMbtDistanceLine::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpDisplay::displayFrame(), vpPose::displayModel(), vpFeatureDisplay::displayPoint(), vpMbtPolygon::getNbCornerInsideImage(), vpMbtPolygon::getRoi(), vpMbtPolygon::getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpMbtDistanceLine::updateMovingEdge(), and vpKinect::warpRGBFrame().

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

inlinestatic

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

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

In the frame (u,v) the result is given by:

$ u = x*p_x + u_0 $ and $ v = y*p_y + v_0 $ in the case of perspective projection without distortion.

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

Definition at line 135 of file vpMeterPixelConversion.h.

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

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

inlinestatic

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

Parameters

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

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

Definition at line 204 of file vpMeterPixelConversion.h.

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

inlinestatic

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

Parameters

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

In the frame (u,v) the result is given by:

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

Definition at line 230 of file vpMeterPixelConversion.h.

References vpImagePoint::set_u(), and vpImagePoint::set_v().

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

inlinestatic

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

$ u = x*p_x+u_0 $ and $ v = y*p_y+v_0 $

Definition at line 160 of file vpMeterPixelConversion.h.

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

inlinestatic

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

In the frame (u,v) the result is given by:

$ u = x*p_x+u_0 $ and $ v = y*p_y+v_0 $

Definition at line 180 of file vpMeterPixelConversion.h.

References vpImagePoint::set_u(), and vpImagePoint::set_v().

Static Public Member Functions

Detailed Description

Member Function Documentation