43 #ifndef vpPixelMeterConversion_H
44 #define vpPixelMeterConversion_H
52 #include <visp/vpCameraParameters.h>
53 #include <visp/vpException.h>
54 #include <visp/vpMath.h>
55 #include <visp/vpDebug.h>
56 #include <visp/vpImagePoint.h>
95 const double &u,
const double &v,
98 switch(cam.projModel){
100 convertPointWithoutDistortion(cam,u,v,x,y);
103 convertPointWithDistortion(cam,u,v,x,y);
133 double &x,
double &y)
135 switch(cam.projModel){
137 convertPointWithoutDistortion(cam,iP,x,y);
140 convertPointWithDistortion(cam,iP,x,y);
156 convertPointWithoutDistortion(
158 const double &u,
const double &v,
159 double &x,
double &y)
161 x = (u - cam.u0)*cam.inv_px ;
162 y = (v - cam.v0)*cam.inv_py ;
178 convertPointWithoutDistortion(
181 double &x,
double &y)
183 x = (iP.
get_u() - cam.u0)*cam.inv_px ;
184 y = (iP.
get_v() - cam.v0)*cam.inv_py ;
200 convertPointWithDistortion(
202 const double &u,
const double &v,
203 double &x,
double &y)
205 double r2 = 1.+cam.kdu*(
vpMath::sqr((u - cam.u0)*cam.inv_px) +
207 x = (u - cam.u0)*r2*cam.inv_px ;
208 y = (v - cam.v0)*r2*cam.inv_py ;
226 convertPointWithDistortion(
229 double &x,
double &y)
233 x = (iP.
get_u() - cam.u0)*r2*cam.inv_px ;
234 y = (iP.
get_v() - cam.v0)*r2*cam.inv_py ;
239 const double &rho_p,
const double &theta_p,
240 double &rho_m,
double &theta_m) ;