vpMeterPixelConversion.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Meter to pixel conversion.
 *
 * Authors:
 * Eric Marchand
 * Anthony Saunier
 *
 *****************************************************************************/

#ifndef vpMeterPixelConversion_H
#define vpMeterPixelConversion_H

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

#if VISP_HAVE_OPENCV_VERSION >= 0x020300
#  include <opencv2/calib3d/calib3d.hpp>
#endif

class VISP_EXPORT vpMeterPixelConversion
{
public:
  static void convertEllipse(const vpCameraParameters &cam, const vpSphere &sphere, vpImagePoint &center_p,
                             double &n20_p, double &n11_p, double &n02_p);
  static void convertEllipse(const vpCameraParameters &cam, const vpCircle &circle, vpImagePoint &center_p,
                             double &n20_p, double &n11_p, double &n02_p);
  static void convertEllipse(const vpCameraParameters &cam,
                             double xc_m, double yc_m, double n20_m, double n11_m, double n02_m,
                             vpImagePoint &center_p, double &n20_p, double &n11_p, double &n02_p);
  static void convertLine(const vpCameraParameters &cam, const double &rho_m, const double &theta_m, double &rho_p,
                          double &theta_p);

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

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

#ifndef DOXYGEN_SHOULD_SKIP_THIS

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

  inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                   vpImagePoint &iP)
  {
    iP.set_u(x * cam.px + cam.u0);
    iP.set_v(y * cam.py + cam.v0);
  }

  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                double &u, double &v)
  {
    double r2 = 1. + cam.kud * (x * x + y * y);
    u = cam.u0 + cam.px * x * r2;
    v = cam.v0 + cam.py * y * r2;
  }

  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                vpImagePoint &iP)
  {
    double r2 = 1. + cam.kud * (x * x + y * y);
    iP.set_u(cam.u0 + cam.px * x * r2);
    iP.set_v(cam.v0 + cam.py * y * r2);
  }

  inline static void convertPointWithKannalaBrandtDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                             double &u, double &v)
  {
    double r = sqrt(vpMath::sqr(x) + vpMath::sqr(y));
    double theta = atan(r);

    std::vector<double> k = cam.getKannalaBrandtDistortionCoefficients();

    double theta2 = theta*theta, theta3 = theta2*theta, theta4 = theta2*theta2, theta5 = theta4*theta,
          theta6 = theta3*theta3, theta7 = theta6*theta, theta8 = theta4*theta4, theta9 = theta8*theta;

    double r_d = theta + k[0]*theta3 + k[1]*theta5 + k[2]*theta7 + k[3]*theta9;

    double scale = (std::fabs(r) < std::numeric_limits<double>::epsilon()) ? 1.0 : r_d / r;

    double x_d = x * scale;
    double y_d = y * scale;

    u = cam.px * x_d + cam.u0;
    v = cam.py * y_d + cam.v0;
  }

  inline static void convertPointWithKannalaBrandtDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                             vpImagePoint &iP)
  {
    double r = sqrt(vpMath::sqr(x) + vpMath::sqr(y));
    double theta = atan(r);

    std::vector<double> k = cam.getKannalaBrandtDistortionCoefficients();

    double theta2 = theta*theta, theta3 = theta2*theta, theta4 = theta2*theta2, theta5 = theta4*theta,
          theta6 = theta3*theta3, theta7 = theta6*theta, theta8 = theta4*theta4, theta9 = theta8*theta;

    double r_d = theta + k[0]*theta3 + k[1]*theta5 + k[2]*theta7 + k[3]*theta9;

    double scale = (std::fabs(r) < std::numeric_limits<double>::epsilon()) ? 1.0 : r_d / r;

    double x_d = x * scale;
    double y_d = y * scale;

    iP.set_u(cam.px * x_d + cam.u0);
    iP.set_v(cam.py * y_d + cam.v0);
  }

#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS


#if VISP_HAVE_OPENCV_VERSION >= 0x020300

  static void convertEllipse(const cv::Mat &cameraMatrix,
                             const vpCircle &circle, vpImagePoint &center,
                             double &n20_p, double &n11_p, double &n02_p);
  static void convertEllipse(const cv::Mat &cameraMatrix,
                             const vpSphere &sphere, vpImagePoint &center,
                             double &n20_p, double &n11_p, double &n02_p);
  static void convertEllipse(const cv::Mat &cameraMatrix,
                             double xc_m, double yc_m, double n20_m, double n11_m, double n02_m,
                             vpImagePoint &center_p, double &n20_p, double &n11_p, double &n02_p);
  static void convertLine(const cv::Mat &cameraMatrix,
                          const double &rho_m, const double &theta_m,
                          double &rho_p, double &theta_p);
  static void convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
                           const double &x, const double &y, double &u, double &v);
  static void convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
                           const double &x, const double &y, vpImagePoint &iP);
#endif
};

#endif