Visual Servoing Platform  version 3.5.1 under development (2023-05-31)
vpPixelMeterConversion.cpp
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30  *
31  * Description:
32  * Pixel to meter conversion.
33  *
34  * Authors:
35  * Eric Marchand
36  * Anthony Saunier
37  *
38  *****************************************************************************/
39 
44 #include <visp3/core/vpCameraParameters.h>
45 #include <visp3/core/vpDebug.h>
46 #include <visp3/core/vpException.h>
47 #include <visp3/core/vpMath.h>
48 #include <visp3/core/vpPixelMeterConversion.h>
49 
60 void vpPixelMeterConversion::convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p,
61  double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m,
62  double &n11_m, double &n02_m)
63 {
64  vpPixelMeterConversion::convertPoint(cam, center_p, xc_m, yc_m);
65  double px = cam.get_px();
66  double py = cam.get_py();
67 
68  n20_m = n20_p / (px * px);
69  n11_m = n11_p / (px * py);
70  n02_m = n02_p / (py * py);
71 }
72 
82 void vpPixelMeterConversion::convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p,
83  double &rho_m, double &theta_m)
84 {
85  double co = cos(theta_p);
86  double si = sin(theta_p);
87  double d = vpMath::sqr(cam.px * co) + vpMath::sqr(cam.py * si);
88 
89  if (fabs(d) < 1e-6) {
90  vpERROR_TRACE("division by zero");
91  throw(vpException(vpException::divideByZeroError, "division by zero"));
92  }
93  theta_m = atan2(si * cam.py, co * cam.px);
94  rho_m = (rho_p - cam.u0 * co - cam.v0 * si) / sqrt(d);
95 }
96 
134 void vpPixelMeterConversion::convertMoment(const vpCameraParameters &cam, unsigned int order,
135  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
136 {
137  vpMatrix m(order, order);
138  double yc = -cam.v0;
139  double xc = -cam.u0;
140 
141  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
142  {
143  for (unsigned int p = 0; p < order; p++) // iteration en X
144  for (unsigned int q = 0; q < order; q++) // iteration en Y
145  if (p + q == k) // on est bien dans la matrice triangulaire superieure
146  {
147  m[p][q] = 0; // initialisation e 0
148  for (unsigned int r = 0; r <= p; r++) // somme externe
149  for (unsigned int t = 0; t <= q; t++) // somme interne
150  {
151  m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
152  pow(xc, (int)(p - r)) * pow(yc, (int)(q - t)) * moment_pixel[r][t];
153  }
154  }
155  }
156 
157  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
158  for (unsigned int p = 0; p < order; p++)
159  for (unsigned int q = 0; q < order; q++)
160  if (p + q == k) {
161  m[p][q] *= pow(cam.inv_px, (int)(1 + p)) * pow(cam.inv_py, (int)(1 + q));
162  }
163 
164  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
165  for (unsigned int p = 0; p < order; p++)
166  for (unsigned int q = 0; q < order; q++)
167  if (p + q == k) {
168  moment_meter[p][q] = m[p][q];
169  }
170 }
171 
172 #if VISP_HAVE_OPENCV_VERSION >= 0x020300
185 void vpPixelMeterConversion::convertEllipse(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
186  const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p,
187  double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
188 {
189  vpPixelMeterConversion::convertPoint(cameraMatrix, distCoeffs, center_p, xc_m, yc_m);
190  double px = cameraMatrix.at<double>(0, 0);
191  double py = cameraMatrix.at<double>(1, 1);
192 
193  n20_m = n20_p / (px * px);
194  n11_m = n11_p / (px * py);
195  n02_m = n02_p / (py * py);
196 }
197 
207 void vpPixelMeterConversion::convertLine(const cv::Mat &cameraMatrix, const double &rho_p, const double &theta_p,
208  double &rho_m, double &theta_m)
209 {
210  double co = cos(theta_p);
211  double si = sin(theta_p);
212  double px = cameraMatrix.at<double>(0, 0);
213  double py = cameraMatrix.at<double>(1, 1);
214  double u0 = cameraMatrix.at<double>(0, 2);
215  double v0 = cameraMatrix.at<double>(1, 2);
216 
217  double d = vpMath::sqr(px * co) + vpMath::sqr(py * si);
218 
219  if (fabs(d) < 1e-6) {
220  vpERROR_TRACE("division by zero");
221  throw(vpException(vpException::divideByZeroError, "division by zero"));
222  }
223  theta_m = atan2(si * py, co * px);
224  rho_m = (rho_p - u0 * co - v0 * si) / sqrt(d);
225 }
226 
236 void vpPixelMeterConversion::convertMoment(const cv::Mat &cameraMatrix, unsigned int order,
237  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
238 {
239  double inv_px = 1. / cameraMatrix.at<double>(0, 0);
240  double inv_py = 1. / cameraMatrix.at<double>(1, 1);
241  double u0 = cameraMatrix.at<double>(0, 2);
242  double v0 = cameraMatrix.at<double>(1, 2);
243 
244  vpMatrix m(order, order);
245  double yc = -v0;
246  double xc = -u0;
247 
248  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
249  {
250  for (unsigned int p = 0; p < order; p++) // iteration en X
251  for (unsigned int q = 0; q < order; q++) // iteration en Y
252  if (p + q == k) // on est bien dans la matrice triangulaire superieure
253  {
254  m[p][q] = 0; // initialisation e 0
255  for (unsigned int r = 0; r <= p; r++) // somme externe
256  for (unsigned int t = 0; t <= q; t++) // somme interne
257  {
258  m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
259  pow(xc, static_cast<int>(p - r)) * pow(yc, static_cast<int>(q - t)) * moment_pixel[r][t];
260  }
261  }
262  }
263 
264  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
265  for (unsigned int p = 0; p < order; p++)
266  for (unsigned int q = 0; q < order; q++)
267  if (p + q == k) {
268  m[p][q] *= pow(inv_px, static_cast<int>(1 + p)) * pow(inv_py, static_cast<int>(1 + q));
269  }
270 
271  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
272  for (unsigned int p = 0; p < order; p++)
273  for (unsigned int q = 0; q < order; q++)
274  if (p + q == k) {
275  moment_meter[p][q] = m[p][q];
276  }
277 }
278 
293 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const double &u,
294  const double &v, double &x, double &y)
295 {
296  std::vector<cv::Point2d> imagePoints_vec;
297  imagePoints_vec.push_back(cv::Point2d(u, v));
298  std::vector<cv::Point2d> objectPoints_vec;
299  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
300  x = objectPoints_vec[0].x;
301  y = objectPoints_vec[0].y;
302 }
303 
317 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
318  const vpImagePoint &iP, double &x, double &y)
319 {
320  std::vector<cv::Point2d> imagePoints_vec;
321  imagePoints_vec.push_back(cv::Point2d(iP.get_u(), iP.get_v()));
322  std::vector<cv::Point2d> objectPoints_vec;
323  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
324  x = objectPoints_vec[0].x;
325  y = objectPoints_vec[0].y;
326 }
327 
328 #endif
Generic class defining intrinsic camera parameters.
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ divideByZeroError
Division by zero.
Definition: vpException.h:94
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
double get_u() const
Definition: vpImagePoint.h:143
double get_v() const
Definition: vpImagePoint.h:154
static double sqr(double x)
Definition: vpMath.h:122
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:307
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
static void convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
static void convertMoment(const vpCameraParameters &cam, unsigned int order, const vpMatrix &moment_pixel, vpMatrix &moment_meter)
static void convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m, double &theta_m)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
#define vpERROR_TRACE
Definition: vpDebug.h:393