n this tutorial, I created an ellipsoid in 3D space and create two cameras in right and left and captured the image:
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cv::Mat leftCameraRotation,rightCameraRotation; double rollLeft, pitchLeft, yawLeft,rollRight, pitchRight, yawRight ,txLeft,tyLeft,tzLeft,txRight,tyRight,tzRight; cv::Vec3d thetaLeft,thetaRight; rollLeft=0 ; pitchLeft=+M_PI/10; yawLeft=0; thetaLeft[0]=rollLeft; thetaLeft[1]=pitchLeft; thetaLeft[2]=yawLeft; rollRight=0; pitchRight= -M_PI/10; yawRight= 0; thetaRight[0]=rollRight; thetaRight[1]=pitchRight; thetaRight[2]=yawRight; txLeft=-1; tyLeft=0.0; tzLeft=-4.0; txRight=1.0; tyRight=0.0; tzRight=-4.0; leftCameraRotation =eulerAnglesToRotationMatrix(thetaLeft); rightCameraRotation =eulerAnglesToRotationMatrix(thetaRight); cv::Mat leftCameraTranslation = (cv::Mat_<double>(3,1) <<txLeft,tyLeft,tzLeft); cv::Mat rightCameraTranslation = (cv::Mat_<double>(3,1) <<txRight,tyRight,tzRight); std::vector<cv::Point3d> objectPointsInWorldCoordinate; double X,Y,Z,radius; ////////////////////////////////////////creating ellipsoid in the world coordinate/////////////////////// double phiStepSize,thetaStepSize; phiStepSize=0.7; thetaStepSize=0.6; double a,b,c; a=2; b=3; c=1.6; for(double phi=-M_PI;phi<M_PI;phi=phi+phiStepSize) { for(double theta=-M_PI/2;theta<M_PI/2;theta=theta+thetaStepSize) { X=a*cos(theta)*cos(phi); Y=b*cos(theta)*sin(phi); Z=c*sin(theta); objectPointsInWorldCoordinate.push_back(cv::Point3d(X, Y, Z)); } } int numberOfPixelInHeight,numberOfPixelInWidth; double heightOfSensor, widthOfSensor; double focalLength=2.0; double mx, my, U0, V0; numberOfPixelInHeight=600; numberOfPixelInWidth=600; heightOfSensor=10; widthOfSensor=10; my=(numberOfPixelInHeight)/heightOfSensor ; U0=(numberOfPixelInHeight)/2 ; mx=(numberOfPixelInWidth)/widthOfSensor; V0=(numberOfPixelInWidth)/2; cv::Mat K = (cv::Mat_<double>(3,3) << focalLength*mx, 0, V0, 0,focalLength*my,U0, 0,0,1); std::vector<cv::Point2d> imagePointsLeftCamera,imagePointsRightCamera; cv::projectPoints(objectPointsInWorldCoordinate, leftCameraRotation, leftCameraTranslation, K, cv::noArray(), imagePointsLeftCamera); cv::projectPoints(objectPointsInWorldCoordinate, rightCameraRotation, rightCameraTranslation, K, cv::noArray(), imagePointsRightCamera); ////////////////////////////////////////////////storing images from right and left camera////////////////////////////////////////////// std::string fileName; cv::Mat rightImage,leftImage; int U,V; leftImage=cv::Mat::zeros(numberOfPixelInHeight,numberOfPixelInWidth,CV_8UC1); for(std::size_t i=0;i<imagePointsLeftCamera.size();i++) { V=int(imagePointsLeftCamera.at(i).x); U=int(imagePointsLeftCamera.at(i).y); leftImage.at<char>(U,V)=255; } fileName=std::string("imagePointsLeftCamera")+std::to_string(focalLength)+ std::string("_.jpg"); cv::imwrite(fileName,leftImage); rightImage=cv::Mat::zeros(numberOfPixelInHeight,numberOfPixelInWidth,CV_8UC1); for(std::size_t i=0;i<imagePointsRightCamera.size();i++) { V=int(imagePointsRightCamera.at(i).x); U=int(imagePointsRightCamera.at(i).y); rightImage.at<char>(U,V)=255; } fileName=std::string("imagePointsRightCamera")+std::to_string(focalLength)+ std::string("_.jpg"); cv::imwrite(fileName,rightImage); |
