[Jderobot-admin] jderobot-r979 - trunk/src/stable/libs/geometry/progeo
rocapal en jderobot.org
rocapal en jderobot.org
Lun Sep 9 12:53:49 CEST 2013
Author: rocapal
Date: 2013-09-09 12:52:49 +0200 (Mon, 09 Sep 2013)
New Revision: 979
Modified:
trunk/src/stable/libs/geometry/progeo/Progeo.cpp
trunk/src/stable/libs/geometry/progeo/Progeo.h
Log:
[26] added methods to convert pixel to optical and vice versa
Modified: trunk/src/stable/libs/geometry/progeo/Progeo.cpp
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.cpp 2013-09-06 10:44:25 UTC (rev 978)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.cpp 2013-09-09 10:52:49 UTC (rev 979)
@@ -38,6 +38,10 @@
setKMatrix(KMatrix);
setRTMatrix(RTMatrix);
setImageSize(width, height);
+ foa(0) = 0.;
+ foa(1) = 0.;
+ foa(2) = 0.;
+ foa(3) = 0.;
}
Progeo::Progeo(std::string filename)
@@ -481,98 +485,18 @@
void Progeo::update_camera_matrix()
{}
-//{
-// double rc11,rc12,rc13,rc21,rc22,rc23,rc31,rc32,rc33;
-// double rab11,rab12,rab13,rab21,rab22,rab23,rab31,rab32,rab33;
-// double r;
-// /* a very small value but not infinite!! */
-// double SMALL=0.0001;
-// double t;
-// double ux,uy,uz,vx,vy,vz,wx,wy,wz;
-// camera->foa.H=1.;
-// camera->position.H=1;
+ void Progeo::pixel2optical (Eigen::Vector3d &point)
+ {
+ double aux = point(0);
+ point(0) = rows-1-point(1);
+ point(1) = aux;
+ }
-// /* Orientation model: focus of attention + roll */
-// rab31=camera->foa.X-camera->position.X;
-// rab32=camera->foa.Y-camera->position.Y;
-// rab33=camera->foa.Z-camera->position.Z;
-// r=(double)sqrt((double)(rab31*rab31+rab32*rab32+rab33*rab33));
-// rab31=rab31/r; rab32=rab32/r; rab33=rab33/r;
-
-// /* Second method:*/
-// wx=rab31;
-// wy=rab32;
-// wz=rab33;
-// t = atan2(-wx,wy);
-// vx=(double)cos(t);
-// vy=(double)sin(t);
-// vz=0.;
-// ux=vy*wz-wy*vz;
-// uy=-vx*wz+wx*vz;
-// uz=vx*wy-wx*vy;
-// if (uz<0.)
-// {vx=-vx; vy=-vy; vz=-vz;
-// ux=-ux; uy=-uy; uz=-uz;}
-// rab11=ux;
-// rab12=uy;
-// rab13=uz;
-// rab21=vx;
-// rab22=vy;
-// rab23=vz;
-
-// /* First method:
-// * this was commented in the previous version. only else branch of this if was valid. test it!!*
-
-// if ((rab31<SMALL) && (rab31>-SMALL) && (rab32<SMALL) && (rab32>-SMALL))
-// * u3 = OZ or FA=camera position *
-// {
-// rab11=1.; rab12=0.; rab13=0.;
-// rab21=0.; rab22=1.; rab23=0.;
-// rab31=0.; rab32=0.; rab33=1.;
-// }else{
-// rab11=rab31*rab33; rab12=rab32*rab33; rab13=-rab31*rab31-rab32*rab32;
-// r=(double)sqrt((double)(rab11*rab11+rab12*rab12+rab13*rab13));
-// rab11=rab11/r; rab12=rab12/r; rab13=rab13/r;
-// if (rab13<0.) {rab11=-rab11; rab12=-rab12; rab13=-rab13;}
-
-// rab21=rab32*rab13-rab12*rab33; rab22=rab11*rab33-rab31*rab13; rab23=rab31*rab12-rab11*rab32;
-// r=(double)sqrt((double)(rab21*rab21+rab22*rab22+rab23*rab23));
-// rab21=rab21/r; rab22=rab22/r; rab23=rab23/r;
-// }
-// */
-
-// rc11=cos(camera->roll); rc12=sin(camera->roll); rc13=0.;
-// rc21=-sin(camera->roll); rc22=cos(camera->roll); rc23=0.;
-// rc31=0.; rc32=0.; rc33=1.;
-
-// camera->rt11=rc11*rab11+rc12*rab21+rc13*rab31;
-// camera->rt12=rc11*rab12+rc12*rab22+rc13*rab32;
-// camera->rt13=rc11*rab13+rc12*rab23+rc13*rab33;
-// camera->rt21=rc21*rab11+rc22*rab21+rc23*rab31;
-// camera->rt22=rc21*rab12+rc22*rab22+rc23*rab32;
-// camera->rt23=rc21*rab13+rc22*rab23+rc23*rab33;
-// camera->rt31=rc31*rab11+rc32*rab21+rc33*rab31;
-// camera->rt32=rc31*rab12+rc32*rab22+rc33*rab32;
-// camera->rt33=rc31*rab13+rc32*rab23+rc33*rab33;
-
-// camera->rt14=-camera->position.X*camera->rt11-camera->position.Y*camera->rt12-camera->position.Z*camera->rt13;
-// camera->rt24=-camera->position.X*camera->rt21-camera->position.Y*camera->rt22-camera->position.Z*camera->rt23;
-// camera->rt34=-camera->position.X*camera->rt31-camera->position.Y*camera->rt32-camera->position.Z*camera->rt33;
-// camera->rt41=0.;
-// camera->rt42=0.;
-// camera->rt43=0.;
-// camera->rt44=1.;
-
-// /* intrinsics parameters */
-// camera->k11=camera->fdistx; camera->k12=camera->skew*camera->fdisty; camera->k13=camera->u0; camera->k14=0.;
-// camera->k21=0.; camera->k22=camera->fdisty; camera->k23=camera->v0; camera->k24=0.;
-// camera->k31=0.; camera->k32=0.; camera->k33=1.; camera->k34=0.;
-
-// if (debug==1) printf("Camera %s Located at (%.f,%.f,%.f)\n",camera->name,camera->position.X,camera->position.Y,camera->position.Z);
-// if (debug==1) printf("Camera %s Orientation: pointing towards FocusOfAtention (%.f,%.f,%.f), roll (%.f)\n",camera->name,camera->foa.X,camera->foa.Y,camera->foa.Z,camera->roll*360./(2*PI));
-// if (debug==1) printf("Camera %s fx= %.5f fy= %.5f skew= %.5f y0=%d x0=%d\n",camera->name, camera->fdistx, camera->fdisty, camera->skew,(int)camera->v0,(int)camera->u0);
-// if (debug==1) printf("Camera %s K matrix\n %.3f %.1f %.1f %.1f\n %.1f %.3f %.1f %.1f\n %.1f %.1f %.1f %.1f\n",camera->name,camera->k11,camera->k12,camera->k13,camera->k14,camera->k21,camera->k22,camera->k23,camera->k24,camera->k31,camera->k32,camera->k33,camera->k34);
-// if (debug==1) printf("Camera %s RT matrix\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n",camera->name,camera->rt11,camera->rt12,camera->rt13,camera->rt14,camera->rt21,camera->rt22,camera->rt23,camera->rt24,camera->rt31,camera->rt32,camera->rt33,camera->rt34,camera->rt41,camera->rt42,camera->rt43,camera->rt44);
-//}
+ void Progeo::optical2pixel(Eigen::Vector3d &point)
+ {
+ double aux = point(1);
+ point(1) = rows-1-point(0);
+ point(0) = aux;
+ }
}
Modified: trunk/src/stable/libs/geometry/progeo/Progeo.h
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.h 2013-09-06 10:44:25 UTC (rev 978)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.h 2013-09-09 10:52:49 UTC (rev 979)
@@ -70,8 +70,9 @@
int project(Eigen::Vector4d in, Eigen::Vector3d &out);
void update_camera_matrix();
+ void pixel2optical (Eigen::Vector3d &point);
+ void optical2pixel (Eigen::Vector3d &point);
-
private:
/* camera 3d position in mm */
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