40 #include <visp3/core/vpCameraParameters.h>
41 #include <visp3/core/vpDebug.h>
42 #include <visp3/core/vpException.h>
43 #include <visp3/core/vpMath.h>
44 #include <visp3/core/vpPixelMeterConversion.h>
57 double n11_p,
double n02_p,
double &xc_m,
double &yc_m,
double &n20_m,
58 double &n11_m,
double &n02_m)
64 n20_m = n20_p / (px * px);
65 n11_m = n11_p / (px * py);
66 n02_m = n02_p / (py * py);
79 double &rho_m,
double &theta_m)
81 double co = cos(theta_p);
82 double si = sin(theta_p);
89 theta_m = atan2(si * cam.m_py, co * cam.m_px);
90 rho_m = (rho_p - cam.m_u0 * co - cam.m_v0 * si) / sqrt(d);
134 double yc = -cam.m_v0;
135 double xc = -cam.m_u0;
137 for (
unsigned int k = 0; k < order; k++)
139 for (
unsigned int p = 0; p < order; p++)
140 for (
unsigned int q = 0; q < order; q++)
144 for (
unsigned int r = 0; r <= p; r++)
145 for (
unsigned int t = 0; t <= q; t++)
148 pow(xc, (
int)(p - r)) * pow(yc, (
int)(q - t)) * moment_pixel[r][t];
153 for (
unsigned int k = 0; k < order; k++)
154 for (
unsigned int p = 0; p < order; p++)
155 for (
unsigned int q = 0; q < order; q++)
157 m[p][q] *= pow(cam.m_inv_px, (
int)(1 + p)) * pow(cam.m_inv_py, (
int)(1 + q));
160 for (
unsigned int k = 0; k < order; k++)
161 for (
unsigned int p = 0; p < order; p++)
162 for (
unsigned int q = 0; q < order; q++)
164 moment_meter[p][q] = m[p][q];
168 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
183 const vpImagePoint ¢er_p,
double n20_p,
double n11_p,
double n02_p,
184 double &xc_m,
double &yc_m,
double &n20_m,
double &n11_m,
double &n02_m)
187 double px = cameraMatrix.at<
double>(0, 0);
188 double py = cameraMatrix.at<
double>(1, 1);
190 n20_m = n20_p / (px * px);
191 n11_m = n11_p / (px * py);
192 n02_m = n02_p / (py * py);
205 double &rho_m,
double &theta_m)
207 double co = cos(theta_p);
208 double si = sin(theta_p);
209 double px = cameraMatrix.at<
double>(0, 0);
210 double py = cameraMatrix.at<
double>(1, 1);
211 double u0 = cameraMatrix.at<
double>(0, 2);
212 double v0 = cameraMatrix.at<
double>(1, 2);
216 if (fabs(d) < 1e-6) {
220 theta_m = atan2(si * py, co * px);
221 rho_m = (rho_p - u0 * co - v0 * si) / sqrt(d);
237 double inv_px = 1. / cameraMatrix.at<
double>(0, 0);
238 double inv_py = 1. / cameraMatrix.at<
double>(1, 1);
239 double u0 = cameraMatrix.at<
double>(0, 2);
240 double v0 = cameraMatrix.at<
double>(1, 2);
246 for (
unsigned int k = 0; k < order; k++)
248 for (
unsigned int p = 0; p < order; p++)
249 for (
unsigned int q = 0; q < order; q++)
253 for (
unsigned int r = 0; r <= p; r++)
254 for (
unsigned int t = 0; t <= q; t++)
257 pow(xc,
static_cast<int>(p - r)) * pow(yc,
static_cast<int>(q - t)) * moment_pixel[r][t];
262 for (
unsigned int k = 0; k < order; k++)
263 for (
unsigned int p = 0; p < order; p++)
264 for (
unsigned int q = 0; q < order; q++)
266 m[p][q] *= pow(inv_px,
static_cast<int>(1 + p)) * pow(inv_py,
static_cast<int>(1 + q));
269 for (
unsigned int k = 0; k < order; k++)
270 for (
unsigned int p = 0; p < order; p++)
271 for (
unsigned int q = 0; q < order; q++)
273 moment_meter[p][q] = m[p][q];
292 const double &v,
double &x,
double &y)
294 std::vector<cv::Point2d> imagePoints_vec;
295 imagePoints_vec.push_back(cv::Point2d(u, v));
296 std::vector<cv::Point2d> objectPoints_vec;
297 cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
298 x = objectPoints_vec[0].x;
299 y = objectPoints_vec[0].y;
318 std::vector<cv::Point2d> imagePoints_vec;
319 imagePoints_vec.push_back(cv::Point2d(iP.
get_u(), iP.
get_v()));
320 std::vector<cv::Point2d> objectPoints_vec;
321 cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
322 x = objectPoints_vec[0].x;
323 y = objectPoints_vec[0].y;
Generic class defining intrinsic camera parameters.
error that can be emitted by ViSP classes.
@ divideByZeroError
Division by zero.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double sqr(double x)
static long double comb(unsigned int n, unsigned int p)
Implementation of a matrix and operations on matrices.
static void convertEllipse(const vpCameraParameters &cam, const vpImagePoint ¢er_p, double n20_p, double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
static void convertMoment(const vpCameraParameters &cam, unsigned int order, const vpMatrix &moment_pixel, vpMatrix &moment_meter)
static void convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m, double &theta_m)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)