visp_bridge: visp_bridge: camera.cpp Source File

00001 /****************************************************************************
00002  *
00003  * $Id: file.cpp 3496 2011-11-22 15:14:32Z fnovotny $
00004  *
00005  * This file is part of the ViSP software.
00006  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
00007  * 
00008  * This software is free software; you can redistribute it and/or
00009  * modify it under the terms of the GNU General Public License
00010  * ("GPL") version 2 as published by the Free Software Foundation.
00011  * See the file LICENSE.txt at the root directory of this source
00012  * distribution for additional information about the GNU GPL.
00013  *
00014  * For using ViSP with software that can not be combined with the GNU
00015  * GPL, please contact INRIA about acquiring a ViSP Professional 
00016  * Edition License.
00017  *
00018  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
00019  * 
00020  * This software was developed at:
00021  * INRIA Rennes - Bretagne Atlantique
00022  * Campus Universitaire de Beaulieu
00023  * 35042 Rennes Cedex
00024  * France
00025  * http://www.irisa.fr/lagadic
00026  *
00027  * If you have questions regarding the use of this file, please contact
00028  * INRIA at visp@inria.fr
00029  * 
00030  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
00031  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
00032  *
00033  * Contact visp@irisa.fr if any conditions of this licensing are
00034  * not clear to you.
00035  *
00036  * Description:
00037  * conversions between ROS and ViSP structures representing camera parameters
00038  *
00039  * Authors:
00040  * Filip Novotny
00041  * 
00042  *
00043  *****************************************************************************/
00044 
00050 #include "camera.h"
00051 
00052 namespace visp_bridge{
00053 
00054   vpCameraParameters toVispCameraParameters(const sensor_msgs::CameraInfo& cam_info){
00055     return vpCameraParameters(cam_info.P[0 * 4 + 0],cam_info.P[1 * 4 + 1],cam_info.P[0 * 4 + 2],cam_info.P[1 * 4 + 2],-cam_info.D[0],cam_info.D[0]);
00056   }
00057 
00058   sensor_msgs::CameraInfo toSensorMsgsCameraInfo(vpCameraParameters& cam_info, unsigned int cam_image_width, unsigned int cam_image_height ){
00059       sensor_msgs::CameraInfo ret;
00060 
00061       std::vector<double> D(5);
00062       D[0]=cam_info.get_kdu();
00063       D[1] = D[2] = D[3] = D[4] = 0.;
00064       ret.D = D;
00065       ret.P.assign(0.);
00066       ret.K.assign(0.);
00067       ret.R.assign(0.);
00068 
00069       ret.R[0] = 1.;
00070       ret.R[1 * 3 + 1] = 1.;
00071       ret.R[2 * 3 + 2] = 1.;
00072 
00073       ret.P[0 * 4 + 0] = cam_info.get_px();
00074       ret.P[1 * 4 + 1] = cam_info.get_py();
00075       ret.P[0 * 4 + 2] = cam_info.get_u0();
00076       ret.P[1 * 4 + 2] = cam_info.get_v0();
00077       ret.P[2 * 4 + 2] = 1;
00078 
00079 
00080       ret.K[0 * 3 + 0] = cam_info.get_px();
00081       ret.K[1 * 3 + 1] = cam_info.get_py();
00082       ret.K[0 * 3 + 2] = cam_info.get_u0();
00083       ret.K[1 * 3 + 2] = cam_info.get_v0();
00084       ret.K[2 * 3 + 2] = 1;
00085 
00086       ret.distortion_model = "plumb_bob";
00087       ret.binning_x = 0;
00088       ret.binning_y = 0;
00089       ret.width = cam_image_width;
00090       ret.height = cam_image_height;
00091 
00092       return ret;
00093   }
00094 }
00095