vpMeterPixelConversion.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 https://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.
 */
 
#ifndef VP_METER_PIXEL_CONVERSION_H
#define VP_METER_PIXEL_CONVERSION_H
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpSphere.h>
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D)
#include <opencv2/calib3d/calib3d.hpp>
#endif
 
BEGIN_VISP_NAMESPACE
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.m_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;
    default:
      std::cerr << "projection model not identified" << std::endl;
    }
  }
 
  inline static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, vpImagePoint &iP)
  {
    switch (cam.m_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;
    default:
      std::cerr << "projection model not identified" << std::endl;
    }
  }
 
#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.m_px) + cam.m_u0;
    v = (y * cam.m_py) + cam.m_v0;
  }
 
  inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                   vpImagePoint &iP)
  {
    iP.set_u((x * cam.m_px) + cam.m_u0);
    iP.set_v((y * cam.m_py) + cam.m_v0);
  }
 
  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                double &u, double &v)
  {
    double r2 = 1. + (cam.m_kud * ((x * x) + (y * y)));
    u = cam.m_u0 + (cam.m_px * x * r2);
    v = cam.m_v0 + (cam.m_py * y * r2);
  }
 
  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &x, const double &y,
                                                vpImagePoint &iP)
  {
    double r2 = 1. + (cam.m_kud * ((x * x) + (y * y)));
    iP.set_u(cam.m_u0 + (cam.m_px * x * r2));
    iP.set_v(cam.m_v0 + (cam.m_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);
    const unsigned int index_0 = 0;
    const unsigned int index_1 = 1;
    const unsigned int index_2 = 2;
    const unsigned int index_3 = 3;
 
    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[index_0] * theta3) + (k[index_1] * theta5) + (k[index_2] * theta7) + (k[index_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.m_px * x_d) + cam.m_u0;
    v = (cam.m_py * y_d) + cam.m_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);
    const unsigned int index_0 = 0;
    const unsigned int index_1 = 1;
    const unsigned int index_2 = 2;
    const unsigned int index_3 = 3;
 
    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[index_0] * theta3) + (k[index_1] * theta5) + (k[index_2] * theta7) + (k[index_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.m_px * x_d) + cam.m_u0);
    iP.set_v((cam.m_py * y_d) + cam.m_v0);
  }
 
#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D)
  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
};
END_VISP_NAMESPACE
#endif