ImageProcessing::ImageProcessing(ros::NodeHandle &nh) {
nh_ = nh;
imageSubscriber = nh_.subscribe("/camera/image_color", 1000,
&ImageProcessing::callback, this);
grid_info_pub = nh_.advertise<serwo::ErrorInfo>("/error", 1);
//3D model points are constant
objectPoints = Generate3DPoints();
distCoeffs = cv::Mat(5, 1, cv::DataType<double>::type);
distCoeffs.at<double>(0) = -0.413271;
distCoeffs.at<double>(1) = 0.172960;
distCoeffs.at<double>(2) = -0.004729;
distCoeffs.at<double>(3) = -0.000895;
distCoeffs.at<double>(4) = 0.0;
cameraMatrix = cv::Mat(3, 3, cv::DataType<double>::type);
cameraMatrix.at<double>(0, 0) = 1080.054285;
cameraMatrix.at<double>(0, 1) = 0.0;
cameraMatrix.at<double>(0, 2) = 655.287407;
cameraMatrix.at<double>(1, 0) = 0.0;
cameraMatrix.at<double>(1, 1) = 1072.245647;
cameraMatrix.at<double>(1, 2) = 524.778361;
cameraMatrix.at<double>(2, 0) = 0.0;
cameraMatrix.at<double>(2, 1) = 0.0;
cameraMatrix.at<double>(2, 2) = 1.0;
rvec = cv::Mat(3, 1, cv::DataType<double>::type);
tvec = cv::Mat(3, 1, cv::DataType<double>::type);
}
int main( int argc, char* argv[])
{
// Read points
std::vector<cv::Point2f> imagePoints = Generate2DPoints();
std::vector<cv::Point3f> objectPoints = Generate3DPoints();
std::cout << "There are " << imagePoints.size() << " imagePoints and " << objectPoints.size() << " objectPoints." << std::endl;
//camera parameters
double fx = 525.0; //focal length x
double fy = 525.0; //focal le
double cx = 319.5; //optical centre x
double cy = 239.5; //optical centre y
cv::Mat cameraMatrix(3,3,cv::DataType<double>::type);
cameraMatrix.at<double>(0,0)=fx;
cameraMatrix.at<double>(1,1)=fy;
cameraMatrix.at<double>(2,2)=1;
cameraMatrix.at<double>(0,2)=cx;
cameraMatrix.at<double>(1,2)=cy;
cameraMatrix.at<double>(0,1)=0;
cameraMatrix.at<double>(1,0)=0;
cameraMatrix.at<double>(2,0)=0;
cameraMatrix.at<double>(2,1)=0;
std::cout << "Initial cameraMatrix: " << cameraMatrix << std::endl;
cv::Mat distCoeffs(4,1,cv::DataType<double>::type);
distCoeffs.at<double>(0) = 0;
distCoeffs.at<double>(1) = 0;
distCoeffs.at<double>(2) = 0;
distCoeffs.at<double>(3) = 0;
cv::Mat rvec(3,1,cv::DataType<double>::type);
cv::Mat tvec(3,1,cv::DataType<double>::type);
cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
std::cout << "rvec: " << rvec << std::endl;
std::cout << "tvec: " << tvec << std::endl;
std::vector<cv::Point2f> projectedPoints;
cv::projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, projectedPoints);
for(unsigned int i = 0; i < projectedPoints.size(); ++i)
{
std::cout << "Image point: " << imagePoints[i] << " Projected to " << projectedPoints[i] << std::endl;
}
return 0;
}
