38 #include <visp3/core/vpCameraParameters.h>
39 #include <visp3/core/vpException.h>
40 #include <visp3/core/vpMath.h>
41 #include <visp3/core/vpPixelMeterConversion.h>
43 #if defined(HAVE_OPENCV_IMGPROC) && \
44 (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_CALIB) && defined(HAVE_OPENCV_3D)))
46 #if (VISP_HAVE_OPENCV_VERSION < 0x050000)
47 #include <opencv2/calib3d/calib3d.hpp>
50 #if (VISP_HAVE_OPENCV_VERSION >= 0x050000)
51 #include <opencv2/calib.hpp>
52 #include <opencv2/3d.hpp>
55 #include <opencv2/imgproc/imgproc.hpp>
70 double n11_p,
double n02_p,
double &xc_m,
double &yc_m,
double &n20_m,
71 double &n11_m,
double &n02_m)
77 n20_m = n20_p / (px * px);
78 n11_m = n11_p / (px * py);
79 n02_m = n02_p / (py * py);
92 double &rho_m,
double &theta_m)
94 double co = cos(theta_p);
95 double si = sin(theta_p);
101 theta_m = atan2(si * cam.m_py, co * cam.m_px);
102 rho_m = (rho_p - (cam.m_u0 * co) - (cam.m_v0 * si)) / sqrt(d);
146 double yc = -cam.m_v0;
147 double xc = -cam.m_u0;
149 for (
unsigned int k = 0; k < order; ++k) {
150 for (
unsigned int p = 0; p < order; ++p) {
151 for (
unsigned int q = 0; q < order; ++q) {
154 for (
unsigned int r = 0; r <= p; ++r) {
155 for (
unsigned int t = 0; t <= q; ++t) {
157 pow(xc,
static_cast<int>(p - r)) * pow(yc,
static_cast<int>(q - t)) * moment_pixel[r][t];
165 for (
unsigned int k = 0; k < order; ++k) {
166 for (
unsigned int p = 0; p < order; ++p) {
167 for (
unsigned int q = 0; q < order; ++q) {
169 m[p][q] *= pow(cam.m_inv_px,
static_cast<int>(1 + p)) * pow(cam.m_inv_py,
static_cast<int>(1 + q));
175 for (
unsigned int k = 0; k < order; ++k) {
176 for (
unsigned int p = 0; p < order; ++p) {
177 for (
unsigned int q = 0; q < order; ++q) {
179 moment_meter[p][q] = m[p][q];
186 #if defined(HAVE_OPENCV_IMGPROC) && \
187 (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_CALIB) && defined(HAVE_OPENCV_3D)))
202 const vpImagePoint ¢er_p,
double n20_p,
double n11_p,
double n02_p,
203 double &xc_m,
double &yc_m,
double &n20_m,
double &n11_m,
double &n02_m)
206 double px = cameraMatrix.at<
double>(0, 0);
207 double py = cameraMatrix.at<
double>(1, 1);
209 n20_m = n20_p / (px * px);
210 n11_m = n11_p / (px * py);
211 n02_m = n02_p / (py * py);
224 double &rho_m,
double &theta_m)
226 double co = cos(theta_p);
227 double si = sin(theta_p);
228 double px = cameraMatrix.at<
double>(0, 0);
229 double py = cameraMatrix.at<
double>(1, 1);
230 double u0 = cameraMatrix.at<
double>(0, 2);
231 double v0 = cameraMatrix.at<
double>(1, 2);
235 if (fabs(d) < 1e-6) {
238 theta_m = atan2(si * py, co * px);
239 rho_m = (rho_p - u0 * co - v0 * si) / sqrt(d);
255 double inv_px = 1. / cameraMatrix.at<
double>(0, 0);
256 double inv_py = 1. / cameraMatrix.at<
double>(1, 1);
257 double u0 = cameraMatrix.at<
double>(0, 2);
258 double v0 = cameraMatrix.at<
double>(1, 2);
264 for (
unsigned int k = 0; k < order; ++k) {
265 for (
unsigned int p = 0; p < order; ++p) {
266 for (
unsigned int q = 0; q < order; ++q) {
269 for (
unsigned int r = 0; r <= p; ++r) {
270 for (
unsigned int t = 0; t <= q; ++t) {
272 pow(xc,
static_cast<int>(p - r)) * pow(yc,
static_cast<int>(q - t)) * moment_pixel[r][t];
280 for (
unsigned int k = 0; k < order; ++k) {
281 for (
unsigned int p = 0; p < order; ++p) {
282 for (
unsigned int q = 0; q < order; ++q) {
284 m[p][q] *= pow(inv_px,
static_cast<int>(1 + p)) * pow(inv_py,
static_cast<int>(1 + q));
290 for (
unsigned int k = 0; k < order; ++k) {
291 for (
unsigned int p = 0; p < order; ++p) {
292 for (
unsigned int q = 0; q < order; ++q) {
294 moment_meter[p][q] = m[p][q];
316 const double &v,
double &x,
double &y)
318 std::vector<cv::Point2d> imagePoints_vec;
319 imagePoints_vec.push_back(cv::Point2d(u, 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;
342 std::vector<cv::Point2d> imagePoints_vec;
343 imagePoints_vec.push_back(cv::Point2d(iP.
get_u(), iP.
get_v()));
344 std::vector<cv::Point2d> objectPoints_vec;
345 cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
346 x = objectPoints_vec[0].x;
347 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 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 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 convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)