IVT
ExtrinsicParameterCalculator.cpp
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36 // Filename: ExtrinsicParameterCalculator.cpp
37 // Author: Pedram Azad
38 // Date: 22.12.2009
39 // ****************************************************************************
40 
41 
42 // ****************************************************************************
43 // Includes
44 // ****************************************************************************
45 
46 #include <new> // for explicitly using correct new/delete operators on VC DSPs
47 
49 #include "Image/PrimitivesDrawer.h"
50 #include "Image/ImageProcessor.h"
51 #include "Image/ByteImage.h"
53 #include "Math/Math3d.h"
54 #include "Math/Math2d.h"
55 #include "Helpers/helpers.h"
56 
57 #include <stdio.h>
58 
59 
60 
61 // ****************************************************************************
62 // Functions
63 // ****************************************************************************
64 
66  const CByteImage *pImage, int nColumns, int nRows, float fSquareSize, // input
67  Vec2d *pPoints, Mat3d &rotation, Vec3d &translation) // output
68 {
69  printf("not yet implemented\n");
70  return false;
71 }
72 
73 
74 void ExtrinsicParameterCalculator::DrawExtrinsic(CByteImage *pResultImage, const CCalibration *pCalibration, const Vec2d *pPoints, int nPoints, float fSquareSize)
75 {
76  const Vec3d worldPoint0 = Math3d::zero_vec;
77  const Vec3d worldPointX = { 2.0f * fSquareSize, 0.0f, 0.0f };
78  const Vec3d worldPointY = { 0.0f, 2.0f * fSquareSize, 0.0f };
79 
80  Vec2d imagePoint0, imagePointX, imagePointY;
81  pCalibration->WorldToImageCoordinates(worldPoint0, imagePoint0);
82  pCalibration->WorldToImageCoordinates(worldPointX, imagePointX);
83  pCalibration->WorldToImageCoordinates(worldPointY, imagePointY);
84 
85  PrimitivesDrawer::DrawLine(pResultImage, imagePoint0, imagePointX, 255, 255, 255, 3);
86  PrimitivesDrawer::DrawLine(pResultImage, imagePoint0, imagePointY, 255, 255, 255, 3);
87  PrimitivesDrawer::DrawCircle(pResultImage, imagePoint0, 5, 255, 255, 255, -1);
88 
89  if (pPoints && nPoints > 0)
90  {
91  Vec2d last_point;
92  Math2d::SetVec(last_point, pPoints[0]);
93 
94  for (int i = 0; i < nPoints; i++)
95  {
96  int r, g, b;
97  hsv2rgb(int(float(i) / (nPoints - 1) * 240), 255, 255, r, g, b);
98  PrimitivesDrawer::DrawCircle(pResultImage, pPoints[i], 3, r, g, b, -1);
99  PrimitivesDrawer::DrawLine(pResultImage, last_point, pPoints[i], r, g, b, 1);
100  Math2d::SetVec(last_point, pPoints[i]);
101  }
102  }
103 }
Data structure for the representation of a 2D vector.
Definition: Math2d.h:82
void hsv2rgb(int h, int s, int v, int &r, int &g, int &b)
Definition: helpers.cpp:348
bool GetPointsAndTranslationAndRotation(const CCalibration *pCalibration, const CByteImage *pImage, int nColumns, int nRows, float fSquareSize, Vec2d *pPoints, Mat3d &rotation, Vec3d &translation)
void WorldToImageCoordinates(const Vec3d &worldPoint, Vec2d &imagePoint, bool bUseDistortionParameters=true) const
Transforms 3D world coordinates to 2D image coordinates.
const Vec3d zero_vec
Definition: Math3d.cpp:59
Data structure for the representation of a 3D vector.
Definition: Math3d.h:73
Camera model parameters and functions for a single camera.
Definition: Calibration.h:125
void DrawExtrinsic(CByteImage *pResultImage, const CCalibration *pCalibration, const Vec2d *pPoints, int nPoints, float fSquareSize)
void DrawLine(CByteImage *pImage, const PointPair2d &line, int r=255, int g=255, int b=255, int thickness=1)
Draws a line segment into a CByteImage, given its two end points.
Data structure for the representation of a 3x3 matrix.
Definition: Math3d.h:93
Data structure for the representation of 8-bit grayscale images and 24-bit RGB (or HSV) color images ...
Definition: ByteImage.h:80
void SetVec(Vec2d &vec, float x, float y)
Definition: Math2d.cpp:68
void DrawCircle(CByteImage *pImage, float mx, float my, float radius, int r=255, int g=255, int b=255, int thickness=1, bool bAntiAlias=false)
Draws a circle into a CByteImage.