/*! 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) ; }