Visual Servoing Platform  version 3.3.1 under development (2020-10-25)
vpCameraParameters.cpp
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30  *
31  * Description:
32  * Camera intrinsic parameters.
33  *
34  * Authors:
35  * Eric Marchand
36  * Anthony Saunier
37  *
38  *****************************************************************************/
39 
47 #include <cmath>
48 #include <iomanip>
49 #include <iostream>
50 #include <limits>
51 #include <sstream>
52 #include <visp3/core/vpCameraParameters.h>
53 #include <visp3/core/vpDebug.h>
54 #include <visp3/core/vpException.h>
55 #include <visp3/core/vpRotationMatrix.h>
56 
57 const double vpCameraParameters::DEFAULT_PX_PARAMETER = 600.0;
58 const double vpCameraParameters::DEFAULT_PY_PARAMETER = 600.0;
59 const double vpCameraParameters::DEFAULT_U0_PARAMETER = 192.0;
60 const double vpCameraParameters::DEFAULT_V0_PARAMETER = 144.0;
61 const double vpCameraParameters::DEFAULT_KUD_PARAMETER = 0.0;
62 const double vpCameraParameters::DEFAULT_KDU_PARAMETER = 0.0;
63 const vpCameraParameters::vpCameraParametersProjType vpCameraParameters::DEFAULT_PROJ_TYPE =
65 
73  : px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER), u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
74  kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER), m_dist_coefs(), width(0), height(0),
75  isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(), inv_px(1. / DEFAULT_PX_PARAMETER),
76  inv_py(1. / DEFAULT_PY_PARAMETER), projModel(DEFAULT_PROJ_TYPE)
77 {
78  init();
79 }
80 
85  : px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER), u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
86  kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER), m_dist_coefs(), width(0), height(0),
87  isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(), inv_px(1. / DEFAULT_PX_PARAMETER),
88  inv_py(1. / DEFAULT_PY_PARAMETER), projModel(DEFAULT_PROJ_TYPE)
89 {
90  init(c);
91 }
92 
100 vpCameraParameters::vpCameraParameters(double cam_px, double cam_py, double cam_u0, double cam_v0)
101  : px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER), u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
102  kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER), m_dist_coefs(), width(0), height(0),
103  isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(), inv_px(1. / DEFAULT_PX_PARAMETER),
104  inv_py(1. / DEFAULT_PY_PARAMETER), projModel(DEFAULT_PROJ_TYPE)
105 {
106  initPersProjWithoutDistortion(cam_px, cam_py, cam_u0, cam_v0);
107 }
108 
118 vpCameraParameters::vpCameraParameters(double cam_px, double cam_py, double cam_u0,
119  double cam_v0, double cam_kud, double cam_kdu)
120  : px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER), u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
121  kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER), m_dist_coefs(), width(0), height(0),
122  isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(), inv_px(1. / DEFAULT_PX_PARAMETER),
123  inv_py(1. / DEFAULT_PY_PARAMETER), projModel(DEFAULT_PROJ_TYPE)
124 {
125  initPersProjWithDistortion(cam_px, cam_py, cam_u0, cam_v0, cam_kud, cam_kdu);
126 }
127 
136 vpCameraParameters::vpCameraParameters(double cam_px, double cam_py, double cam_u0,
137  double cam_v0, const std::vector<double> &coefficients)
138  : px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER), u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
139  kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER), m_dist_coefs(), width(0), height(0),
140  isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(), inv_px(1. / DEFAULT_PX_PARAMETER),
141  inv_py(1. / DEFAULT_PY_PARAMETER), projModel(DEFAULT_PROJ_TYPE)
142 {
143  initProjWithKannalaBrandtDistortion(cam_px, cam_py, cam_u0, cam_v0, coefficients);
144 }
145 
150 {
151  if (fabs(this->px) < 1e-6) {
152  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
153  }
154  if (fabs(this->py) < 1e-6) {
155  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
156  }
157  this->inv_px = 1. / this->px;
158  this->inv_py = 1. / this->py;
159 }
160 
198 void vpCameraParameters::initPersProjWithoutDistortion(double cam_px, double cam_py, double cam_u0,
199  double cam_v0)
200 {
202 
203  this->px = cam_px;
204  this->py = cam_py;
205  this->u0 = cam_u0;
206  this->v0 = cam_v0;
207  this->kud = 0;
208  this->kdu = 0;
209 
210  if (fabs(px) < 1e-6) {
211  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
212  }
213  if (fabs(py) < 1e-6) {
214  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
215  }
216  this->inv_px = 1. / px;
217  this->inv_py = 1. / py;
218 }
219 
262 void vpCameraParameters::initPersProjWithDistortion(double cam_px, double cam_py, double cam_u0,
263  double cam_v0, double cam_kud, double cam_kdu)
264 {
266 
267  this->px = cam_px;
268  this->py = cam_py;
269  this->u0 = cam_u0;
270  this->v0 = cam_v0;
271  this->kud = cam_kud;
272  this->kdu = cam_kdu;
273 
274  if (fabs(px) < 1e-6) {
275  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
276  }
277  if (fabs(py) < 1e-6) {
278  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
279  }
280  this->inv_px = 1. / px;
281  this->inv_py = 1. / py;
282 }
283 
290 void vpCameraParameters::initProjWithKannalaBrandtDistortion(double cam_px, double cam_py, double cam_u0, double cam_v0,
291  const std::vector<double> &coefficients)
292 {
294 
295  this->px = cam_px;
296  this->py = cam_py;
297  this->u0 = cam_u0;
298  this->v0 = cam_v0;
299 
300  if (fabs(px) < 1e-6) {
301  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
302  }
303  if (fabs(py) < 1e-6) {
304  throw(vpException(vpException::divideByZeroError, "Camera parameter px = 0"));
305  }
306  this->inv_px = 1. / px;
307  this->inv_py = 1. / py;
308 
309  this->m_dist_coefs = coefficients;
310 }
311 
318 
322 void vpCameraParameters::init(const vpCameraParameters &c) { *this = c; }
323 
339 {
340  if (_K.getRows() != 3 || _K.getCols() != 3) {
341  throw vpException(vpException::dimensionError, "bad size for calibration matrix");
342  }
343  if (std::fabs(_K[2][2] - 1.0) > std::numeric_limits<double>::epsilon()) {
344  throw vpException(vpException::badValue, "bad value: K[2][2] must be equal to 1");
345  }
346  initPersProjWithoutDistortion(_K[0][0], _K[1][1], _K[0][2], _K[1][2]);
347 }
348 
382 void vpCameraParameters::initFromFov(const unsigned int &w, const unsigned int &h, const double &hfov,
383  const double &vfov)
384 {
386  u0 = (double)w / 2.;
387  v0 = (double)h / 2.;
388  px = u0 / tan(hfov / 2);
389  py = v0 / tan(vfov / 2);
390  kud = 0;
391  kdu = 0;
392  inv_px = 1. / px;
393  inv_py = 1. / py;
394  computeFov(w, h);
395 }
396 
401 {
402  projModel = cam.projModel;
403  px = cam.px;
404  py = cam.py;
405  u0 = cam.u0;
406  v0 = cam.v0;
407  kud = cam.kud;
408  kdu = cam.kdu;
409  m_dist_coefs = cam.m_dist_coefs;
410 
411  inv_px = cam.inv_px;
412  inv_py = cam.inv_py;
413 
414  isFov = cam.isFov;
415  m_hFovAngle = cam.m_hFovAngle;
416  m_vFovAngle = cam.m_vFovAngle;
417  width = cam.width;
418  height = cam.height;
419  fovNormals = cam.fovNormals;
420 
421  return *this;
422 }
423 
428  if (projModel != c.projModel)
429  return false;
430 
431  if (!vpMath::equal(px, c.px, std::numeric_limits<double>::epsilon()) ||
432  !vpMath::equal(py, c.py, std::numeric_limits<double>::epsilon()) ||
433  !vpMath::equal(u0, c.u0, std::numeric_limits<double>::epsilon()) ||
434  !vpMath::equal(v0, c.v0, std::numeric_limits<double>::epsilon()) ||
435  !vpMath::equal(kud, c.kud, std::numeric_limits<double>::epsilon()) ||
436  !vpMath::equal(kdu, c.kdu, std::numeric_limits<double>::epsilon()) ||
437  !vpMath::equal(inv_px, c.inv_px, std::numeric_limits<double>::epsilon()) ||
438  !vpMath::equal(inv_py, c.inv_py, std::numeric_limits<double>::epsilon()))
439  return false;
440 
441  for(unsigned int i = 0; i < m_dist_coefs.size(); i++)
442  if(!vpMath::equal(m_dist_coefs[i], c.m_dist_coefs[i], std::numeric_limits<double>::epsilon()))
443  return false;
444 
445  if (isFov != c.isFov ||
446  !vpMath::equal(m_hFovAngle, c.m_hFovAngle, std::numeric_limits<double>::epsilon()) ||
447  !vpMath::equal(m_vFovAngle, c.m_vFovAngle, std::numeric_limits<double>::epsilon()) ||
448  width != c.width || height != c.height)
449  return false;
450 
451  if (fovNormals.size() != c.fovNormals.size())
452  return false;
453 
454  std::vector<vpColVector>::const_iterator it1 = fovNormals.begin();
455  std::vector<vpColVector>::const_iterator it2 = c.fovNormals.begin();
456  for (; it1 != fovNormals.end() && it2 != c.fovNormals.end(); ++it1, ++it2) {
457  if (*it1 != *it2)
458  return false;
459  }
460 
461  return true;
462 }
463 
468  return !(*this == c);
469 }
470 
477 void vpCameraParameters::computeFov(const unsigned int &w, const unsigned int &h)
478 {
479  if ((!isFov || w != width || h != height) && w != 0 && h != 0) {
480  fovNormals = std::vector<vpColVector>(4);
481 
482  isFov = true;
483 
484  double hFovAngle = atan(((double)w - u0) * (1.0 / px));
485  double vFovAngle = atan((v0) * (1.0 / py));
486  double minushFovAngle = atan((u0) * (1.0 / px));
487  double minusvFovAngle = atan(((double)h - v0) * (1.0 / py));
488 
489  width = w;
490  height = h;
491 
492  vpColVector n(3);
493  n = 0;
494  n[0] = 1.0;
495 
496  vpRotationMatrix Rleft(0, -minushFovAngle, 0);
497  vpRotationMatrix Rright(0, hFovAngle, 0);
498 
499  vpColVector nLeft, nRight;
500 
501  nLeft = Rleft * (-n);
502  fovNormals[0] = nLeft.normalize();
503 
504  nRight = Rright * n;
505  fovNormals[1] = nRight.normalize();
506 
507  n = 0;
508  n[1] = 1.0;
509 
510  vpRotationMatrix Rup(vFovAngle, 0, 0);
511  vpRotationMatrix Rdown(-minusvFovAngle, 0, 0);
512 
513  vpColVector nUp, nDown;
514 
515  nUp = Rup * (-n);
516  fovNormals[2] = nUp.normalize();
517 
518  nDown = Rdown * n;
519  fovNormals[3] = nDown.normalize();
520 
521  m_hFovAngle = hFovAngle + minushFovAngle;
522  m_vFovAngle = vFovAngle + minusvFovAngle;
523  }
524 }
525 
538 {
539  vpMatrix K(3, 3, 0.);
540  K[0][0] = px;
541  K[1][1] = py;
542  K[0][2] = u0;
543  K[1][2] = v0;
544  K[2][2] = 1.0;
545 
546  return K;
547 }
560 {
561  vpMatrix K_inv(3, 3, 0.);
562  K_inv[0][0] = inv_px;
563  K_inv[1][1] = inv_py;
564  K_inv[0][2] = -u0 * inv_px;
565  K_inv[1][2] = -v0 * inv_py;
566  K_inv[2][2] = 1.0;
567 
568  return K_inv;
569 }
570 
577 {
578  std::ios::fmtflags original_flags(std::cout.flags());
579  switch (projModel) {
581  std::cout.precision(10);
582  std::cout << "Camera parameters for perspective projection without distortion:" << std::endl;
583  std::cout << " px = " << px << "\t py = " << py << std::endl;
584  std::cout << " u0 = " << u0 << "\t v0 = " << v0 << std::endl;
585  break;
587  std::cout.precision(10);
588  std::cout << "Camera parameters for perspective projection with distortion:" << std::endl;
589  std::cout << " px = " << px << "\t py = " << py << std::endl;
590  std::cout << " u0 = " << u0 << "\t v0 = " << v0 << std::endl;
591  std::cout << " kud = " << kud << std::endl;
592  std::cout << " kdu = " << kdu << std::endl;
593  break;
595  std::cout << " Coefficients: ";
596  for (unsigned int i = 0; i < m_dist_coefs.size(); i++)
597  std::cout << " " << m_dist_coefs[i];
598  std::cout << std::endl;
599  break;
600  }
601  // Restore ostream format
602  std::cout.flags(original_flags);
603 }
611 VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpCameraParameters &cam)
612 {
613  switch (cam.get_projModel()) {
615  os << "Camera parameters for perspective projection without distortion:" << std::endl;
616  os << " px = " << cam.get_px() << "\t py = " << cam.get_py() << std::endl;
617  os << " u0 = " << cam.get_u0() << "\t v0 = " << cam.get_v0() << std::endl;
618  break;
620  {
621  std::ios_base::fmtflags original_flags = os.flags();
622  os.precision(10);
623  os << "Camera parameters for perspective projection with distortion:" << std::endl;
624  os << " px = " << cam.get_px() << "\t py = " << cam.get_py() << std::endl;
625  os << " u0 = " << cam.get_u0() << "\t v0 = " << cam.get_v0() << std::endl;
626  os << " kud = " << cam.get_kud() << std::endl;
627  os << " kdu = " << cam.get_kdu() << std::endl;
628  os.flags(original_flags); // restore os to standard state
629  }
630  break;
632  {
633  os << "Camera parameters for projection with Kannala-Brandt distortion:" << std::endl;
634  os << " px = " << cam.get_px() << "\t py = " << cam.get_py() << std::endl;
635  os << " u0 = " << cam.get_u0() << "\t v0 = " << cam.get_v0() << std::endl;
636  os << " Coefficients: ";
637  std::vector<double> tmp_coefs = cam.getKannalaBrandtDistortionCoefficients();
638  for(unsigned int i = 0; i < tmp_coefs.size(); i++)
639  os << " " << tmp_coefs[i];
640  os << std::endl;
641  }
642  break;
643  }
644  return os;
645 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
void initFromCalibrationMatrix(const vpMatrix &_K)
void init()
basic initialization with the default parameters
double get_kdu() const
vpCameraParametersProjType get_projModel() const
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:300
error that can be emited by ViSP classes.
Definition: vpException.h:71
unsigned int getRows() const
Definition: vpArray2D.h:289
void initProjWithKannalaBrandtDistortion(double px, double py, double u0, double v0, const std::vector< double > &distortion_coefficients)
vpMatrix get_K() const
void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu)
bool operator!=(const vpCameraParameters &c) const
Implementation of a rotation matrix and operations on such kind of matrices.
unsigned int getCols() const
Definition: vpArray2D.h:279
vpColVector & normalize()
void initFromFov(const unsigned int &w, const unsigned int &h, const double &hfov, const double &vfov)
bool operator==(const vpCameraParameters &c) const
Generic class defining intrinsic camera parameters.
std::vector< double > getKannalaBrandtDistortionCoefficients() const
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, const vpCameraParameters &cam)
double get_kud() const
vpCameraParameters & operator=(const vpCameraParameters &c)
vpMatrix get_K_inverse() const
void computeFov(const unsigned int &w, const unsigned int &h)