/*!
Create a vpColVector of a projected point.
\param p : Point to project.
\param v : Resulting vector.
\param K : Camera parameters.
*/
void
vpMbScanLine::createVectorFromPoint(const vpPoint &p, vpColVector &v, const vpCameraParameters &K)
{
v = vpColVector(3);
v[0] = p.get_X() * K.get_px() + K.get_u0() * p.get_Z();
v[1] = p.get_Y() * K.get_py() + K.get_v0() * p.get_Z();
v[2] = p.get_Z();
}
sensor_msgs::CameraInfo toSensorMsgsCameraInfo(vpCameraParameters& cam_info, unsigned int cam_image_width, unsigned int cam_image_height ){
sensor_msgs::CameraInfo ret;
std::vector<double> D(5);
D[0]=cam_info.get_kdu();
D[1] = D[2] = D[3] = D[4] = 0.;
ret.D = D;
ret.P.assign(0.);
ret.K.assign(0.);
ret.R.assign(0.);
ret.R[0] = 1.;
ret.R[1 * 3 + 1] = 1.;
ret.R[2 * 3 + 2] = 1.;
ret.P[0 * 4 + 0] = cam_info.get_px();
ret.P[1 * 4 + 1] = cam_info.get_py();
ret.P[0 * 4 + 2] = cam_info.get_u0();
ret.P[1 * 4 + 2] = cam_info.get_v0();
ret.P[2 * 4 + 2] = 1;
ret.K[0 * 3 + 0] = cam_info.get_px();
ret.K[1 * 3 + 1] = cam_info.get_py();
ret.K[0 * 3 + 2] = cam_info.get_u0();
ret.K[1 * 3 + 2] = cam_info.get_v0();
ret.K[2 * 3 + 2] = 1;
ret.distortion_model = "plumb_bob";
ret.binning_x = 0;
ret.binning_y = 0;
ret.width = cam_image_width;
ret.height = cam_image_height;
return ret;
}
/*!
Compute and return the standard deviation expressed in pixel
for pose matrix and camera intrinsic parameters for model without distortion.
\param cMo_est : the matrix that defines the pose to be tested.
\param camera : camera intrinsic parameters to be tested.
\return the standard deviation by point of the error in pixel .
*/
double vpCalibration::computeStdDeviation(const vpHomogeneousMatrix& cMo_est,
const vpCameraParameters& camera)
{
double residual_ = 0 ;
std::list<double>::const_iterator it_LoX = LoX.begin();
std::list<double>::const_iterator it_LoY = LoY.begin();
std::list<double>::const_iterator it_LoZ = LoZ.begin();
std::list<vpImagePoint>::const_iterator it_Lip = Lip.begin();
double u0 = camera.get_u0() ;
double v0 = camera.get_v0() ;
double px = camera.get_px() ;
double py = camera.get_py() ;
vpImagePoint ip;
for (unsigned int i =0 ; i < npt ; i++)
{
double oX = *it_LoX;
double oY = *it_LoY;
double oZ = *it_LoZ;
double cX = oX*cMo_est[0][0]+oY*cMo_est[0][1]+oZ*cMo_est[0][2] + cMo_est[0][3];
double cY = oX*cMo_est[1][0]+oY*cMo_est[1][1]+oZ*cMo_est[1][2] + cMo_est[1][3];
double cZ = oX*cMo_est[2][0]+oY*cMo_est[2][1]+oZ*cMo_est[2][2] + cMo_est[2][3];
double x = cX/cZ ;
double y = cY/cZ ;
ip = *it_Lip;
double u = ip.get_u() ;
double v = ip.get_v() ;
double xp = u0 + x*px;
double yp = v0 + y*py;
residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
++it_LoX;
++it_LoY;
++it_LoZ;
++it_Lip;
}
this->residual = residual_ ;
return sqrt(residual_/npt) ;
}
/*!
Computes the coordinates of the point corresponding to the intersection
between a circle and a line.
\warning This functions assumes changeFrame() and projection() have already been called.
\sa changeFrame(), projection()
\param circle : Circle to consider for the intersection.
\param cam : Camera parameters that have to be used for the intersection computation.
\param rho : The rho parameter of the line.
\param theta : The theta parameter of the line.
\param i : resulting i-coordinate of the intersection point.
\param j : resulting j-coordinate of the intersection point.
*/
void
vpCircle::computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho, const double &theta, double &i, double &j)
{
// This was taken from the code of art-v1. (from the artCylinder class)
double px = cam.get_px() ;
double py = cam.get_py() ;
double u0 = cam.get_u0() ;
double v0 = cam.get_v0() ;
double mu11 = circle.p[3];
double mu02 = circle.p[4];
double mu20 = circle.p[2];
double Xg = u0 + circle.p[0]*px;
double Yg = v0 + circle.p[1]*py;
// Find Intersection between line and ellipse in the image.
// Optimised calculation for X
double stheta = sin(theta);
double ctheta = cos(theta);
double sctheta = stheta*ctheta;
double m11yg = mu11*Yg;
double ctheta2 = vpMath::sqr(ctheta);
double m02xg = mu02*Xg;
double m11stheta = mu11*stheta;
j = ((mu11*Xg*sctheta-mu20*Yg*sctheta+mu20*rho*ctheta
-m11yg+m11yg*ctheta2+m02xg-m02xg*ctheta2+
m11stheta*rho)/(mu20*ctheta2+2.0*m11stheta*ctheta
+mu02-mu02*ctheta2));
//Optimised calculation for Y
double rhom02 = rho*mu02;
double sctheta2 = stheta*ctheta2;
double ctheta3 = ctheta2*ctheta;
i = (-(-rho*mu11*stheta*ctheta-rhom02+rhom02*ctheta2
+mu11*Xg*sctheta2-mu20*Yg*sctheta2-ctheta*mu11*Yg
+ctheta3*mu11*Yg+ctheta*mu02*Xg-ctheta3*mu02*Xg)/
(mu20*ctheta2+2.0*mu11*stheta*ctheta+mu02-
mu02*ctheta2)/stheta);
}
/*!
Compute and return the standard deviation expressed in pixel
for pose matrix and camera intrinsic parameters with pixel to meter model.
\param cMo_est : the matrix that defines the pose to be tested.
\param camera : camera intrinsic parameters to be tested.
\return the standard deviation by point of the error in pixel .
*/
double vpCalibration::computeStdDeviation_dist(const vpHomogeneousMatrix& cMo_est,
const vpCameraParameters& camera)
{
double residual_ = 0 ;
std::list<double>::const_iterator it_LoX = LoX.begin();
std::list<double>::const_iterator it_LoY = LoY.begin();
std::list<double>::const_iterator it_LoZ = LoZ.begin();
std::list<vpImagePoint>::const_iterator it_Lip = Lip.begin();
double u0 = camera.get_u0() ;
double v0 = camera.get_v0() ;
double px = camera.get_px() ;
double py = camera.get_py() ;
double kud = camera.get_kud() ;
double kdu = camera.get_kdu() ;
double inv_px = 1/px;
double inv_py = 1/px;
vpImagePoint ip;
for (unsigned int i =0 ; i < npt ; i++)
{
double oX = *it_LoX;
double oY = *it_LoY;
double oZ = *it_LoZ;
double cX = oX*cMo_est[0][0]+oY*cMo_est[0][1]+oZ*cMo_est[0][2] + cMo_est[0][3];
double cY = oX*cMo_est[1][0]+oY*cMo_est[1][1]+oZ*cMo_est[1][2] + cMo_est[1][3];
double cZ = oX*cMo_est[2][0]+oY*cMo_est[2][1]+oZ*cMo_est[2][2] + cMo_est[2][3];
double x = cX/cZ ;
double y = cY/cZ ;
ip = *it_Lip;
double u = ip.get_u() ;
double v = ip.get_v() ;
double r2ud = 1+kud*(vpMath::sqr(x)+vpMath::sqr(y)) ;
double xp = u0 + x*px*r2ud;
double yp = v0 + y*py*r2ud;
residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
double r2du = (vpMath::sqr((u-u0)*inv_px)+vpMath::sqr((v-v0)*inv_py)) ;
xp = u0 + x*px - kdu*(u-u0)*r2du;
yp = v0 + y*py - kdu*(v-v0)*r2du;
residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
++it_LoX;
++it_LoY;
++it_LoZ;
++it_Lip;
}
residual_ /=2;
this->residual_dist = residual_;
return sqrt(residual_/npt) ;
}
