Visual Servoing Platform version 3.5.0
vpPixelMeterConversion.cpp
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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
61 const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p,
62 double &xc_m, double &yc_m, double &n20_m, 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
83 const double &rho_p, const double &theta_p,
84 double &rho_m, double &theta_m)
85{
86 double co = cos(theta_p);
87 double si = sin(theta_p);
88 double d = vpMath::sqr(cam.px * co) + vpMath::sqr(cam.py * si);
89
90 if (fabs(d) < 1e-6) {
91 vpERROR_TRACE("division by zero");
92 throw(vpException(vpException::divideByZeroError, "division by zero"));
93 }
94 theta_m = atan2(si * cam.py, co * cam.px);
95 rho_m = (rho_p - cam.u0 * co - cam.v0 * si) / sqrt(d);
96}
97
136 unsigned int order, const vpMatrix &moment_pixel,
137 vpMatrix &moment_meter)
138{
139 vpMatrix m(order, order);
140 double yc = -cam.v0;
141 double xc = -cam.u0;
142
143 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
144 {
145 for (unsigned int p = 0; p < order; p++) // iteration en X
146 for (unsigned int q = 0; q < order; q++) // iteration en Y
147 if (p + q == k) // on est bien dans la matrice triangulaire superieure
148 {
149 m[p][q] = 0; // initialisation e 0
150 for (unsigned int r = 0; r <= p; r++) // somme externe
151 for (unsigned int t = 0; t <= q; t++) // somme interne
152 {
153 m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
154 pow(xc, (int)(p - r)) * pow(yc, (int)(q - t)) * moment_pixel[r][t];
155 }
156 }
157 }
158
159 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
160 for (unsigned int p = 0; p < order; p++)
161 for (unsigned int q = 0; q < order; q++)
162 if (p + q == k) {
163 m[p][q] *= pow(cam.inv_px, (int)(1 + p)) * pow(cam.inv_py, (int)(1 + q));
164 }
165
166 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
167 for (unsigned int p = 0; p < order; p++)
168 for (unsigned int q = 0; q < order; q++)
169 if (p + q == k) {
170 moment_meter[p][q] = m[p][q];
171 }
172}
173
174#if VISP_HAVE_OPENCV_VERSION >= 0x020300
188void vpPixelMeterConversion::convertEllipse(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
189 const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p,
190 double &xc_m, double &yc_m, double &n20_m, double &n11_m, double &n02_m)
191{
192 vpPixelMeterConversion::convertPoint(cameraMatrix, distCoeffs, center_p, xc_m, yc_m);
193 double px = cameraMatrix.at<double>(0,0);
194 double py = cameraMatrix.at<double>(1,1);
195
196 n20_m = n20_p / (px * px);
197 n11_m = n11_p / (px * py);
198 n02_m = n02_p / (py * py);
199}
200
210void vpPixelMeterConversion::convertLine(const cv::Mat &cameraMatrix,
211 const double &rho_p, const double &theta_p,
212 double &rho_m, double &theta_m)
213{
214 double co = cos(theta_p);
215 double si = sin(theta_p);
216 double px = cameraMatrix.at<double>(0,0);
217 double py = cameraMatrix.at<double>(1,1);
218 double u0 = cameraMatrix.at<double>(0,2);
219 double v0 = cameraMatrix.at<double>(1,2);
220
221 double d = vpMath::sqr(px * co) + vpMath::sqr(py * si);
222
223 if (fabs(d) < 1e-6) {
224 vpERROR_TRACE("division by zero");
225 throw(vpException(vpException::divideByZeroError, "division by zero"));
226 }
227 theta_m = atan2(si * py, co * px);
228 rho_m = (rho_p - u0 * co - v0 * si) / sqrt(d);
229}
230
241void vpPixelMeterConversion::convertMoment(const cv::Mat &cameraMatrix,
242 unsigned int order, const vpMatrix &moment_pixel,
243 vpMatrix &moment_meter)
244{
245 double inv_px = 1. / cameraMatrix.at<double>(0,0);
246 double inv_py = 1. / cameraMatrix.at<double>(1,1);
247 double u0 = cameraMatrix.at<double>(0,2);
248 double v0 = cameraMatrix.at<double>(1,2);
249
250 vpMatrix m(order, order);
251 double yc = -v0;
252 double xc = -u0;
253
254 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
255 {
256 for (unsigned int p = 0; p < order; p++) // iteration en X
257 for (unsigned int q = 0; q < order; q++) // iteration en Y
258 if (p + q == k) // on est bien dans la matrice triangulaire superieure
259 {
260 m[p][q] = 0; // initialisation e 0
261 for (unsigned int r = 0; r <= p; r++) // somme externe
262 for (unsigned int t = 0; t <= q; t++) // somme interne
263 {
264 m[p][q] += static_cast<double>(vpMath::comb(p, r)) * static_cast<double>(vpMath::comb(q, t)) *
265 pow(xc, static_cast<int>(p - r)) * pow(yc, static_cast<int>(q - t)) * moment_pixel[r][t];
266 }
267 }
268 }
269
270 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
271 for (unsigned int p = 0; p < order; p++)
272 for (unsigned int q = 0; q < order; q++)
273 if (p + q == k) {
274 m[p][q] *= pow(inv_px, static_cast<int>(1 + p)) * pow(inv_py, static_cast<int>(1 + q));
275 }
276
277 for (unsigned int k = 0; k < order; k++) // iteration correspondant e l'ordre du moment
278 for (unsigned int p = 0; p < order; p++)
279 for (unsigned int q = 0; q < order; q++)
280 if (p + q == k) {
281 moment_meter[p][q] = m[p][q];
282 }
283}
284
299void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
300 const double &u, const double &v, double &x, double &y)
301{
302 std::vector<cv::Point2d> imagePoints_vec;
303 imagePoints_vec.push_back(cv::Point2d(u, v));
304 std::vector<cv::Point2d> objectPoints_vec;
305 cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
306 x = objectPoints_vec[0].x;
307 y = objectPoints_vec[0].y;
308}
309
323void vpPixelMeterConversion::convertPoint(const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs,
324 const vpImagePoint &iP, double &x, double &y)
325{
326 std::vector<cv::Point2d> imagePoints_vec;
327 imagePoints_vec.push_back(cv::Point2d(iP.get_u(), iP.get_v()));
328 std::vector<cv::Point2d> objectPoints_vec;
329 cv::undistortPoints(imagePoints_vec, objectPoints_vec, cameraMatrix, distCoeffs);
330 x = objectPoints_vec[0].x;
331 y = objectPoints_vec[0].y;
332}
333
334#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:88
double get_u() const
Definition: vpImagePoint.h:262
double get_v() const
Definition: vpImagePoint.h:273
static double sqr(double x)
Definition: vpMath.h:116
static long double comb(unsigned int n, unsigned int p)
Definition: vpMath.h:232
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