Visual Servoing Platform  version 3.6.1 under development (2023-12-07)
vpPixelMeterConversion.cpp
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31  * Description:
32  * Pixel to meter conversion.
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34 *****************************************************************************/
35 
40 #include <visp3/core/vpCameraParameters.h>
41 #include <visp3/core/vpDebug.h>
42 #include <visp3/core/vpException.h>
43 #include <visp3/core/vpMath.h>
44 #include <visp3/core/vpPixelMeterConversion.h>
45 
56 void vpPixelMeterConversion::convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p,
57  double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m,
58  double &n11_m, double &n02_m)
59 {
60  vpPixelMeterConversion::convertPoint(cam, center_p, xc_m, yc_m);
61  double px = cam.get_px();
62  double py = cam.get_py();
63 
64  n20_m = n20_p / (px * px);
65  n11_m = n11_p / (px * py);
66  n02_m = n02_p / (py * py);
67 }
68 
78 void vpPixelMeterConversion::convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p,
79  double &rho_m, double &theta_m)
80 {
81  double co = cos(theta_p);
82  double si = sin(theta_p);
83  double d = vpMath::sqr(cam.m_px * co) + vpMath::sqr(cam.m_py * si);
84 
85  if (fabs(d) < 1e-6) {
86  vpERROR_TRACE("division by zero");
87  throw(vpException(vpException::divideByZeroError, "division by zero"));
88  }
89  theta_m = atan2(si * cam.m_py, co * cam.m_px);
90  rho_m = (rho_p - cam.m_u0 * co - cam.m_v0 * si) / sqrt(d);
91 }
92 
130 void vpPixelMeterConversion::convertMoment(const vpCameraParameters &cam, unsigned int order,
131  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
132 {
133  vpMatrix m(order, order);
134  double yc = -cam.m_v0;
135  double xc = -cam.m_u0;
136 
137  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
138  {
139  for (unsigned int p = 0; p < order; p++) // iteration en X
140  for (unsigned int q = 0; q < order; q++) // iteration en Y
141  if (p + q == k) // on est bien dans la matrice triangulaire superieure
142  {
143  m[p][q] = 0; // initialisation e 0
144  for (unsigned int r = 0; r <= p; r++) // somme externe
145  for (unsigned int t = 0; t <= q; t++) // somme interne
146  {
147  m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
148  pow(xc, (int)(p - r)) * pow(yc, (int)(q - t)) * moment_pixel[r][t];
149  }
150  }
151  }
152 
153  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
154  for (unsigned int p = 0; p < order; p++)
155  for (unsigned int q = 0; q < order; q++)
156  if (p + q == k) {
157  m[p][q] *= pow(cam.m_inv_px, (int)(1 + p)) * pow(cam.m_inv_py, (int)(1 + q));
158  }
159 
160  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
161  for (unsigned int p = 0; p < order; p++)
162  for (unsigned int q = 0; q < order; q++)
163  if (p + q == k) {
164  moment_meter[p][q] = m[p][q];
165  }
166 }
167 
168 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
182 void vpPixelMeterConversion::convertEllipse(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
183  const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p,
184  double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
185 {
186  vpPixelMeterConversion::convertPoint(cameraMatrix, distCoeffs, center_p, xc_m, yc_m);
187  double px = cameraMatrix.at<double>(0, 0);
188  double py = cameraMatrix.at<double>(1, 1);
189 
190  n20_m = n20_p / (px * px);
191  n11_m = n11_p / (px * py);
192  n02_m = n02_p / (py * py);
193 }
194 
204 void vpPixelMeterConversion::convertLine(const cv::Mat &cameraMatrix, const double &rho_p, const double &theta_p,
205  double &rho_m, double &theta_m)
206 {
207  double co = cos(theta_p);
208  double si = sin(theta_p);
209  double px = cameraMatrix.at<double>(0, 0);
210  double py = cameraMatrix.at<double>(1, 1);
211  double u0 = cameraMatrix.at<double>(0, 2);
212  double v0 = cameraMatrix.at<double>(1, 2);
213 
214  double d = vpMath::sqr(px * co) + vpMath::sqr(py * si);
215 
216  if (fabs(d) < 1e-6) {
217  vpERROR_TRACE("division by zero");
218  throw(vpException(vpException::divideByZeroError, "division by zero"));
219  }
220  theta_m = atan2(si * py, co * px);
221  rho_m = (rho_p - u0 * co - v0 * si) / sqrt(d);
222 }
223 
234 void vpPixelMeterConversion::convertMoment(const cv::Mat &cameraMatrix, unsigned int order,
235  const vpMatrix &moment_pixel, vpMatrix &moment_meter)
236 {
237  double inv_px = 1. / cameraMatrix.at<double>(0, 0);
238  double inv_py = 1. / cameraMatrix.at<double>(1, 1);
239  double u0 = cameraMatrix.at<double>(0, 2);
240  double v0 = cameraMatrix.at<double>(1, 2);
241 
242  vpMatrix m(order, order);
243  double yc = -v0;
244  double xc = -u0;
245 
246  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
247  {
248  for (unsigned int p = 0; p < order; p++) // iteration en X
249  for (unsigned int q = 0; q < order; q++) // iteration en Y
250  if (p + q == k) // on est bien dans la matrice triangulaire superieure
251  {
252  m[p][q] = 0; // initialisation e 0
253  for (unsigned int r = 0; r <= p; r++) // somme externe
254  for (unsigned int t = 0; t <= q; t++) // somme interne
255  {
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  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
263  for (unsigned int p = 0; p < order; p++)
264  for (unsigned int q = 0; q < order; q++)
265  if (p + q == k) {
266  m[p][q] *= pow(inv_px, static_cast<int>(1 + p)) * pow(inv_py, static_cast<int>(1 + q));
267  }
268 
269  for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
270  for (unsigned int p = 0; p < order; p++)
271  for (unsigned int q = 0; q < order; q++)
272  if (p + q == k) {
273  moment_meter[p][q] = m[p][q];
274  }
275 }
276 
291 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const double &u,
292  const double &v, double &x, double &y)
293 {
294  std::vector<cv::Point2d> imagePoints_vec;
295  imagePoints_vec.push_back(cv::Point2d(u, v));
296  std::vector<cv::Point2d> objectPoints_vec;
297  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
298  x = objectPoints_vec[0].x;
299  y = objectPoints_vec[0].y;
300 }
301 
315 void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
316  const vpImagePoint &iP, double &x, double &y)
317 {
318  std::vector<cv::Point2d> imagePoints_vec;
319  imagePoints_vec.push_back(cv::Point2d(iP.get_u(), iP.get_v()));
320  std::vector<cv::Point2d> objectPoints_vec;
321  cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
322  x = objectPoints_vec[0].x;
323  y = objectPoints_vec[0].y;
324 }
325 
326 #endif
Generic class defining intrinsic camera parameters.
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ divideByZeroError
Division by zero.
Definition: vpException.h:82
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:201
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:389
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
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:388