Visual Servoing Platform  version 3.6.1 under development (2024-12-04)
vpPixelMeterConversion.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Pixel to meter conversion.
32  */
33 
39 #ifndef VP_PIXEL_METER_CONVERSION_H
40 #define VP_PIXEL_METER_CONVERSION_H
41 
42 #include <visp3/core/vpCameraParameters.h>
43 #include <visp3/core/vpException.h>
44 #include <visp3/core/vpImagePoint.h>
45 #include <visp3/core/vpMath.h>
46 
47 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
48 #include <opencv2/calib3d/calib3d.hpp>
49 #include <opencv2/imgproc/imgproc.hpp>
50 #endif
51 
52 BEGIN_VISP_NAMESPACE
65 class VISP_EXPORT vpPixelMeterConversion
66 {
67 public:
70  static void convertEllipse(const vpCameraParameters &cam, const vpImagePoint &center_p, double n20_p, double n11_p,
71  double n02_p, double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m);
72  static void convertLine(const vpCameraParameters &cam, const double &rho_p, const double &theta_p, double &rho_m,
73  double &theta_m);
74 
75  static void convertMoment(const vpCameraParameters &cam, unsigned int order, const vpMatrix &moment_pixel,
76  vpMatrix &moment_meter);
102  inline static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
103  {
104  switch (cam.m_projModel) {
105  case vpCameraParameters::perspectiveProjWithoutDistortion:
106  convertPointWithoutDistortion(cam, u, v, x, y);
107  break;
108  case vpCameraParameters::perspectiveProjWithDistortion:
109  convertPointWithDistortion(cam, u, v, x, y);
110  break;
111  case vpCameraParameters::ProjWithKannalaBrandtDistortion:
112  convertPointWithKannalaBrandtDistortion(cam, u, v, x, y);
113  break;
114  default:
115  std::cerr << "projection model not identified" << std::endl;
116  }
117  }
118 
146  inline static void convertPoint(const vpCameraParameters &cam, const vpImagePoint &iP, double &x, double &y)
147  {
148  switch (cam.m_projModel) {
149  case vpCameraParameters::perspectiveProjWithoutDistortion:
150  convertPointWithoutDistortion(cam, iP, x, y);
151  break;
152  case vpCameraParameters::perspectiveProjWithDistortion:
153  convertPointWithDistortion(cam, iP, x, y);
154  break;
155  case vpCameraParameters::ProjWithKannalaBrandtDistortion:
156  convertPointWithKannalaBrandtDistortion(cam, iP, x, y);
157  break;
158  default:
159  std::cerr << "projection model not identified" << std::endl;
160  }
161  }
162 
163 #ifndef DOXYGEN_SHOULD_SKIP_THIS
176  inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const double &u, const double &v,
177  double &x, double &y)
178  {
179  x = (u - cam.m_u0) * cam.m_inv_px;
180  y = (v - cam.m_v0) * cam.m_inv_py;
181  }
182 
198  inline static void convertPointWithoutDistortion(const vpCameraParameters &cam, const vpImagePoint &iP, double &x,
199  double &y)
200  {
201  x = (iP.get_u() - cam.m_u0) * cam.m_inv_px;
202  y = (iP.get_v() - cam.m_v0) * cam.m_inv_py;
203  }
204 
219  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const double &u, const double &v,
220  double &x, double &y)
221  {
222  double r2 = 1. + (cam.m_kdu * (vpMath::sqr((u - cam.m_u0) * cam.m_inv_px) + vpMath::sqr((v - cam.m_v0) * cam.m_inv_py)));
223  x = (u - cam.m_u0) * r2 * cam.m_inv_px;
224  y = (v - cam.m_v0) * r2 * cam.m_inv_py;
225  }
226 
243  inline static void convertPointWithDistortion(const vpCameraParameters &cam, const vpImagePoint &iP, double &x,
244  double &y)
245  {
246  double r2 = 1. + (cam.m_kdu * (vpMath::sqr((iP.get_u() - cam.m_u0) * cam.m_inv_px) +
247  vpMath::sqr((iP.get_v() - cam.m_v0) * cam.m_inv_py)));
248  x = (iP.get_u() - cam.m_u0) * r2 * cam.m_inv_px;
249  y = (iP.get_v() - cam.m_v0) * r2 * cam.m_inv_py;
250  }
251 
272  inline static void convertPointWithKannalaBrandtDistortion(const vpCameraParameters &cam, const double &u,
273  const double &v, double &x, double &y)
274  {
275  double x_d = (u - cam.m_u0) / cam.m_px, y_d = (v - cam.m_v0) / cam.m_py;
276  double scale = 1.0;
277  double r_d = sqrt(vpMath::sqr(x_d) + vpMath::sqr(y_d));
278  const unsigned int index_0 = 0;
279  const unsigned int index_1 = 1;
280  const unsigned int index_2 = 2;
281  const unsigned int index_3 = 3;
282  const unsigned int val_1 = 1;
283  const unsigned int val_3 = 3;
284  const unsigned int val_5 = 5;
285  const unsigned int val_7 = 7;
286  const unsigned int val_9 = 9;
287  const unsigned int val_10 = 10;
288 
289  r_d = std::min<double>(std::max<double>(-M_PI, r_d), M_PI); // FOV restricted to 180degrees.
290 
291  std::vector<double> k = cam.getKannalaBrandtDistortionCoefficients();
292 
293  const double EPS = 1e-8;
294  // Use Newton-Raphson method to solve for the angle theta
295  if (r_d > EPS) {
296  // compensate distortion iteratively
297  double theta = r_d;
298 
299  for (unsigned int j = 0; j < val_10; ++j) {
300  double theta2 = theta * theta;
301  double theta4 = theta2 * theta2;
302  double theta6 = theta4 * theta2;
303  double theta8 = theta6 * theta2;
304  double k0_theta2 = k[index_0] * theta2;
305  double k1_theta4 = k[index_1] * theta4;
306  double k2_theta6 = k[index_2] * theta6,
307  k3_theta8 = k[index_3] * theta8;
308  /*
309  // new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta)
310  */
311  double theta_fix = ((theta * (val_1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8)) - r_d)
312  / (val_1 + (val_3 * k0_theta2) + (val_5 * k1_theta4) + (val_7 * k2_theta6) + (val_9 * k3_theta8));
313  theta = theta - theta_fix;
314  if (fabs(theta_fix) < EPS) {
315  break;
316  }
317  }
318 
319  scale = std::tan(theta) / r_d; // Scale of norm of (x,y) and (x_d, y_d)
320  }
321 
322  x = x_d * scale;
323  y = y_d * scale;
324  }
325 
345  inline static void convertPointWithKannalaBrandtDistortion(const vpCameraParameters &cam, const vpImagePoint &iP,
346  double &x, double &y)
347  {
348  double x_d = (iP.get_u() - cam.m_u0) / cam.m_px, y_d = (iP.get_v() - cam.m_v0) / cam.m_py;
349  double scale = 1.0;
350  double r_d = sqrt(vpMath::sqr(x_d) + vpMath::sqr(y_d));
351  const unsigned int index_0 = 0;
352  const unsigned int index_1 = 1;
353  const unsigned int index_2 = 2;
354  const unsigned int index_3 = 3;
355  const unsigned int val_1 = 1;
356  const unsigned int val_3 = 3;
357  const unsigned int val_5 = 5;
358  const unsigned int val_7 = 7;
359  const unsigned int val_9 = 9;
360  const unsigned int val_10 = 10;
361 
362  r_d = std::min<double>(std::max<double>(-M_PI, r_d), M_PI); // FOV restricted to 180degrees.
363 
364  std::vector<double> k = cam.getKannalaBrandtDistortionCoefficients();
365 
366  const double EPS = 1e-8;
367  // Use Newton-Raphson method to solve for the angle theta
368  if (r_d > EPS) {
369  // compensate distortion iteratively
370  double theta = r_d;
371 
372  for (unsigned int j = 0; j < val_10; ++j) {
373  double theta2 = theta * theta;
374  double theta4 = theta2 * theta2;
375  double theta6 = theta4 * theta2;
376  double theta8 = theta6 * theta2;
377  double k0_theta2 = k[index_0] * theta2;
378  double k1_theta4 = k[index_1] * theta4;
379  double k2_theta6 = k[index_2] * theta6;
380  double k3_theta8 = k[index_3] * theta8;
381  /*
382  // new_theta = theta - theta_fix, theta_fix = f0(theta) / f0'(theta)
383  */
384  double theta_fix = ((theta * (val_1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8)) - r_d) /
385  (val_1 + (val_3 * k0_theta2) + (val_5 * k1_theta4) + (val_7 * k2_theta6) + (val_9 * k3_theta8));
386  theta = theta - theta_fix;
387  if (fabs(theta_fix) < EPS) {
388  break;
389  }
390  }
391 
392  scale = std::tan(theta) / r_d; // Scale of norm of (x,y) and (x_d, y_d)
393  }
394 
395  x = x_d * scale;
396  y = y_d * scale;
397  }
398 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
400 
401 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
404  static void convertEllipse(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const vpImagePoint &center_p,
405  double n20_p, double n11_p, double n02_p, double &xc_m, double &yc_m, double &n20_m,
406  double &n11_m, double &n02_m);
407  static void convertLine(const cv::Mat &cameraMatrix, const double &rho_p, const double &theta_p, double &rho_m,
408  double &theta_m);
409  static void convertMoment(const cv::Mat &cameraMatrix, unsigned int order, const vpMatrix &moment_pixel,
410  vpMatrix &moment_meter);
411  static void convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const double &u, const double &v,
412  double &x, double &y);
413  static void convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const vpImagePoint &iP, double &x,
414  double &y);
416 #endif
417 };
418 END_VISP_NAMESPACE
419 #endif
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:310
vpCameraParameters::getKannalaBrandtDistortionCoefficients
std::vector< double > getKannalaBrandtDistortionCoefficients() const
Definition: vpCameraParameters.h:412
vpCameraParameters::perspectiveProjWithDistortion
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Definition: vpCameraParameters.h:318
vpCameraParameters::ProjWithKannalaBrandtDistortion
@ ProjWithKannalaBrandtDistortion
Projection with Kannala-Brandt distortion model.
Definition: vpCameraParameters.h:319
vpCameraParameters::perspectiveProjWithoutDistortion
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Definition: vpCameraParameters.h:317
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpImagePoint::get_u
double get_u() const
Definition: vpImagePoint.h:136
vpImagePoint::get_v
double get_v() const
Definition: vpImagePoint.h:147
vpMath::sqr
static double sqr(double x)
Definition: vpMath.h:203
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
vpPixelMeterConversion::convertPoint
static void convertPoint(const vpCameraParameters &cam, const vpImagePoint &iP, double &x, double &y)
Definition: vpPixelMeterConversion.h:146
vpPixelMeterConversion::convertPoint
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Definition: vpPixelMeterConversion.h:102