vpPixelMeterConversion.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pixel to meter conversion.
 *
 * Authors:
 * Eric Marchand
 * Anthony Saunier
 *
 *****************************************************************************/

#ifndef vpPixelMeterConversion_H
#define vpPixelMeterConversion_H


#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImagePoint.h>

class VISP_EXPORT vpPixelMeterConversion
{
public:

inline static void
convertPoint(const vpCameraParameters &cam,
  const double &u, const double &v,
  double &x, double &y)
{
  switch(cam.projModel){
    case vpCameraParameters::perspectiveProjWithoutDistortion :
      convertPointWithoutDistortion(cam,u,v,x,y);
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
      convertPointWithDistortion(cam,u,v,x,y);
      break;
  }       
}

inline static void
convertPoint(const vpCameraParameters &cam,
  const vpImagePoint &iP,
  double &x, double &y)
{
  switch(cam.projModel){
    case vpCameraParameters::perspectiveProjWithoutDistortion :
      convertPointWithoutDistortion(cam,iP,x,y);
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
      convertPointWithDistortion(cam,iP,x,y);
      break;
  }       
}

inline static void
convertPointWithoutDistortion(
  const vpCameraParameters &cam,
  const double &u, const double &v,
  double &x, double &y)
{
    x = (u - cam.u0)*cam.inv_px ;
    y = (v - cam.v0)*cam.inv_py ;
}

inline static void
convertPointWithoutDistortion(
  const vpCameraParameters &cam,
  const vpImagePoint &iP,
  double &x, double &y)
{
    x = (iP.get_u() - cam.u0)*cam.inv_px ;
    y = (iP.get_v() - cam.v0)*cam.inv_py ;
}

inline static void
convertPointWithDistortion(
  const vpCameraParameters &cam,
  const double &u, const double &v,
  double &x, double &y)
{
  double r2 = 1.+cam.kdu*(vpMath::sqr((u - cam.u0)*cam.inv_px) +
              vpMath::sqr((v-cam.v0)*cam.inv_py));
  x = (u - cam.u0)*r2*cam.inv_px ;
  y = (v - cam.v0)*r2*cam.inv_py ;
}

inline static void
convertPointWithDistortion(
  const vpCameraParameters &cam,
  const vpImagePoint &iP,
  double &x, double &y)
{
  double r2 = 1.+cam.kdu*(vpMath::sqr((iP.get_u() - cam.u0)*cam.inv_px) +
              vpMath::sqr((iP.get_v()-cam.v0)*cam.inv_py));
  x = (iP.get_u() - cam.u0)*r2*cam.inv_px ;
  y = (iP.get_v() - cam.v0)*r2*cam.inv_py ;
}

  static void convertLine(const vpCameraParameters &cam,
              const double &rho_p, const double &theta_p,
              double &rho_m, double &theta_m) ;


  static void convertMoment(const vpCameraParameters &cam,
                unsigned int order,
                const vpMatrix &moment_pixel,
                vpMatrix &moment_meter) ;
} ;

#endif
/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */