Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
vpPixelMeterConversion.cpp
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29  *
30  * Description:
31  * Pixel to meter conversion.
32  *
33 *****************************************************************************/
34 
39 #include <visp3/core/vpCameraParameters.h>
40 #include <visp3/core/vpException.h>
41 #include <visp3/core/vpMath.h>
42 #include <visp3/core/vpPixelMeterConversion.h>
43 
44 BEGIN_VISP_NAMESPACE
55  void vpPixelMeterConversion::convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p,
56  double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m,
57  double &n11_m, double &n02_m)
58 {
59  vpPixelMeterConversion::convertPoint(cam, center_p, xc_m, yc_m);
60  double px = cam.get_px();
61  double py = cam.get_py();
62 
63  n20_m = n20_p / (px * px);
64  n11_m = n11_p / (px * py);
65  n02_m = n02_p / (py * py);
66 }
67 
77 void vpPixelMeterConversion::convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p,
78  double &rho_m, double &theta_m)
79 {
80  double co = cos(theta_p);
81  double si = sin(theta_p);
82  double d = vpMath::sqr(cam.m_px * co) + vpMath::sqr(cam.m_py * si);
83 
84  if (fabs(d) < 1e-6) {
85  throw(vpException(vpException::divideByZeroError, "division by zero"));
86  }
87  theta_m = atan2(si * cam.m_py, co * cam.m_px);
88  rho_m = (rho_p - (cam.m_u0 * co) - (cam.m_v0 * si)) / sqrt(d);
89 }
90 
128 void vpPixelMeterConversion::convertMoment(const vpCameraParameters &cam, unsigned int order,
129  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
130 {
131  vpMatrix m(order, order);
132  double yc = -cam.m_v0;
133  double xc = -cam.m_u0;
134 
135  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
136  for (unsigned int p = 0; p < order; ++p) { // iteration en X
137  for (unsigned int q = 0; q < order; ++q) { // iteration en Y
138  if ((p + q) == k) { // on est bien dans la matrice triangulaire superieure
139  m[p][q] = 0; // initialisation e 0
140  for (unsigned int r = 0; r <= p; ++r) { // somme externe
141  for (unsigned int t = 0; t <= q; ++t) { // somme interne
142  m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
143  pow(xc, static_cast<int>(p - r)) * pow(yc, static_cast<int>(q - t)) * moment_pixel[r][t];
144  }
145  }
146  }
147  }
148  }
149  }
150 
151  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
152  for (unsigned int p = 0; p < order; ++p) {
153  for (unsigned int q = 0; q < order; ++q) {
154  if ((p + q) == k) {
155  m[p][q] *= pow(cam.m_inv_px, static_cast<int>(1 + p)) * pow(cam.m_inv_py, static_cast<int>(1 + q));
156  }
157  }
158  }
159  }
160 
161  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
162  for (unsigned int p = 0; p < order; ++p) {
163  for (unsigned int q = 0; q < order; ++q) {
164  if ((p + q) == k) {
165  moment_meter[p][q] = m[p][q];
166  }
167  }
168  }
169  }
170 }
171 
172 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
186 void vpPixelMeterConversion::convertEllipse(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
187  const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p,
188  double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
189 {
190  vpPixelMeterConversion::convertPoint(cameraMatrix, distCoeffs, center_p, xc_m, yc_m);
191  double px = cameraMatrix.at<double>(0, 0);
192  double py = cameraMatrix.at<double>(1, 1);
193 
194  n20_m = n20_p / (px * px);
195  n11_m = n11_p / (px * py);
196  n02_m = n02_p / (py * py);
197 }
198 
208 void vpPixelMeterConversion::convertLine(const cv::Mat &cameraMatrix, const double &rho_p, const double &theta_p,
209  double &rho_m, double &theta_m)
210 {
211  double co = cos(theta_p);
212  double si = sin(theta_p);
213  double px = cameraMatrix.at<double>(0, 0);
214  double py = cameraMatrix.at<double>(1, 1);
215  double u0 = cameraMatrix.at<double>(0, 2);
216  double v0 = cameraMatrix.at<double>(1, 2);
217 
218  double d = vpMath::sqr(px * co) + vpMath::sqr(py * si);
219 
220  if (fabs(d) < 1e-6) {
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 
237 void vpPixelMeterConversion::convertMoment(const cv::Mat &cameraMatrix, unsigned int order,
238  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
239 {
240  double inv_px = 1. / cameraMatrix.at<double>(0, 0);
241  double inv_py = 1. / cameraMatrix.at<double>(1, 1);
242  double u0 = cameraMatrix.at<double>(0, 2);
243  double v0 = cameraMatrix.at<double>(1, 2);
244 
245  vpMatrix m(order, order);
246  double yc = -v0;
247  double xc = -u0;
248 
249  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
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  m[p][q] = 0; // initialisation e 0
254  for (unsigned int r = 0; r <= p; ++r) { // somme externe
255  for (unsigned int t = 0; t <= q; ++t) { // somme interne
256  m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
257  pow(xc, static_cast<int>(p - r)) * pow(yc, static_cast<int>(q - t)) * moment_pixel[r][t];
258  }
259  }
260  }
261  }
262  }
263  }
264 
265  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
266  for (unsigned int p = 0; p < order; ++p) {
267  for (unsigned int q = 0; q < order; ++q) {
268  if (p + q == k) {
269  m[p][q] *= pow(inv_px, static_cast<int>(1 + p)) * pow(inv_py, static_cast<int>(1 + q));
270  }
271  }
272  }
273  }
274 
275  for (unsigned int k = 0; k < order; ++k) { // iteration correspondant e l'ordre du moment
276  for (unsigned int p = 0; p < order; ++p) {
277  for (unsigned int q = 0; q < order; ++q) {
278  if (p + q == k) {
279  moment_meter[p][q] = m[p][q];
280  }
281  }
282  }
283  }
284 }
285 
300 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const double &u,
301  const double &v, double &x, double &y)
302 {
303  std::vector<cv::Point2d> imagePoints_vec;
304  imagePoints_vec.push_back(cv::Point2d(u, v));
305  std::vector<cv::Point2d> objectPoints_vec;
306  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
307  x = objectPoints_vec[0].x;
308  y = objectPoints_vec[0].y;
309 }
310 
324 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
325  const vpImagePoint &iP, double &x, double &y)
326 {
327  std::vector<cv::Point2d> imagePoints_vec;
328  imagePoints_vec.push_back(cv::Point2d(iP.get_u(), iP.get_v()));
329  std::vector<cv::Point2d> objectPoints_vec;
330  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
331  x = objectPoints_vec[0].x;
332  y = objectPoints_vec[0].y;
333 }
334 
335 #endif
336 END_VISP_NAMESPACE
Generic class defining intrinsic camera parameters.
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ divideByZeroError
Division by zero.
Definition: vpException.h:70
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
double get_u() const
Definition: vpImagePoint.h:136
double get_v() const
Definition: vpImagePoint.h:147
static double sqr(double x)
Definition: vpMath.h:203
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:395
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
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 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 convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)