/usr/include/x86_64-linux-gnu/visp3/core/vpPixelMeterConversion.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Pixel to meter conversion.
*
* Authors:
* Eric Marchand
* Anthony Saunier
*
*****************************************************************************/
#ifndef vpPixelMeterConversion_H
#define vpPixelMeterConversion_H
/*!
\file vpPixelMeterConversion.h
\brief pixel to meter conversion
*/
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImagePoint.h>
/*!
\class vpPixelMeterConversion
\ingroup group_core_camera
\brief Conversion from pixel coordinates \f$(u,v)\f$ to normalized
coordinates \f$(x,y)\f$ in meter.
This class relates to vpCameraParameters.
*/
class VISP_EXPORT vpPixelMeterConversion
{
public:
/*!
\brief Point coordinates conversion from pixel coordinates
\f$(u,v)\f$ to normalized coordinates \f$(x,y)\f$ in meter.
The used formula depends on the projection model of the camera. To
know the currently used projection model use
vpCameraParameter::get_projModel()
\param cam : camera parameters.
\param u,v : input coordinates in pixels.
\param x,y : output coordinates in meter.
\f$ x = (u-u_0)/p_x \f$ and \f$ y = (v-v_0)/p_y \f$ in the case of
perspective projection without distortion.
\f$ x = (u-u_0)*(1+k_{du}*r^2)/p_x \f$ and
\f$ y = (v-v_0)*(1+k_{du}*r^2)/p_y \f$
with \f$ r^2=((u - u_0)/p_x)^2+((v-v_0)/p_y)^2 \f$ in the case of perspective
projection with distortion.
*/
inline static void
convertPoint(const vpCameraParameters &cam,
const double &u, const double &v,
double &x, double &y)
{
switch(cam.projModel){
case vpCameraParameters::perspectiveProjWithoutDistortion :
convertPointWithoutDistortion(cam,u,v,x,y);
break;
case vpCameraParameters::perspectiveProjWithDistortion :
convertPointWithDistortion(cam,u,v,x,y);
break;
}
}
/*!
\brief Point coordinates conversion from pixel coordinates
Coordinates in pixel to normalized coordinates \f$(x,y)\f$ in meter.
The used formula depends on the projection model of the camera. To
know the currently used projection model use
vpCameraParameter::get_projModel()
\param cam : camera parameters.
\param iP : input coordinates in pixels.
\param x,y : output coordinates in meter.
Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :
\f$ x = (u-u_0)/p_x \f$ and \f$ y = (v-v_0)/p_y \f$ in the case of
perspective projection without distortion.
\f$ x = (u-u_0)*(1+k_{du}*r^2)/p_x \f$ and
\f$ y = (v-v_0)*(1+k_{du}*r^2)/p_y \f$
with \f$ r^2=((u - u_0)/p_x)^2+((v-v_0)/p_y)^2 \f$ in the case of perspective
projection with distortion.
*/
inline static void
convertPoint(const vpCameraParameters &cam,
const vpImagePoint &iP,
double &x, double &y)
{
switch(cam.projModel){
case vpCameraParameters::perspectiveProjWithoutDistortion :
convertPointWithoutDistortion(cam,iP,x,y);
break;
case vpCameraParameters::perspectiveProjWithDistortion :
convertPointWithDistortion(cam,iP,x,y);
break;
}
}
/*!
\brief Point coordinates conversion without distortion from pixel coordinates
\f$(u,v)\f$ to normalized coordinates \f$(x,y)\f$ in meter.
\param cam : camera parameters.
\param u,v : input coordinates in pixels.
\param x,y : output coordinates in meter.
\f$ x = (u-u_0)/p_x \f$ and \f$ y = (v-v_0)/p_y \f$
*/
inline static void
convertPointWithoutDistortion(
const vpCameraParameters &cam,
const double &u, const double &v,
double &x, double &y)
{
x = (u - cam.u0)*cam.inv_px ;
y = (v - cam.v0)*cam.inv_py ;
}
/*!
\brief Point coordinates conversion without distortion from pixel coordinates
Coordinates in pixel to normalized coordinates \f$(x,y)\f$ in meter.
\param cam : camera parameters.
\param iP : input coordinates in pixels.
\param x,y : output coordinates in meter.
Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :
\f$ x = (u-u_0)/p_x \f$ and \f$ y = (v-v_0)/p_y \f$
*/
inline static void
convertPointWithoutDistortion(
const vpCameraParameters &cam,
const vpImagePoint &iP,
double &x, double &y)
{
x = (iP.get_u() - cam.u0)*cam.inv_px ;
y = (iP.get_v() - cam.v0)*cam.inv_py ;
}
/*!
\brief Point coordinates conversion with distortion from pixel coordinates
\f$(u,v)\f$ to normalized coordinates \f$(x,y)\f$ in meter.
\param cam : camera parameters.
\param u,v : input coordinates in pixels.
\param x,y : output coordinates in meter.
\f$ x = (u-u_0)*(1+k_{du}*r^2)/p_x \f$ and
\f$ y = (v-v_0)*(1+k_{du}*r^2)/p_y \f$
with \f$ r^2=((u - u_0)/p_x)^2 + ((v-v_0)/p_y)^2 \f$
*/
inline static void
convertPointWithDistortion(
const vpCameraParameters &cam,
const double &u, const double &v,
double &x, double &y)
{
double r2 = 1.+cam.kdu*(vpMath::sqr((u - cam.u0)*cam.inv_px) +
vpMath::sqr((v-cam.v0)*cam.inv_py));
x = (u - cam.u0)*r2*cam.inv_px ;
y = (v - cam.v0)*r2*cam.inv_py ;
}
/*!
\brief Point coordinates conversion with distortion from pixel coordinates
Coordinates in pixel to normalized coordinates \f$(x,y)\f$ in meter.
\param cam : camera parameters.
\param iP : input coordinates in pixels.
\param x,y : output coordinates in meter.
Thanks to the pixel coordinates in the frame (u,v), the meter coordinates are given by :
\f$ x = (u-u_0)*(1+k_{du}*r^2)/p_x \f$ and
\f$ y = (v-v_0)*(1+k_{du}*r^2)/p_y \f$
with \f$ r^2=((u - u_0)/p_x)^2 + ((v-v_0)/p_y)^2 \f$
*/
inline static void
convertPointWithDistortion(
const vpCameraParameters &cam,
const vpImagePoint &iP,
double &x, double &y)
{
double r2 = 1.+cam.kdu*(vpMath::sqr((iP.get_u() - cam.u0)*cam.inv_px) +
vpMath::sqr((iP.get_v()-cam.v0)*cam.inv_py));
x = (iP.get_u() - cam.u0)*r2*cam.inv_px ;
y = (iP.get_v() - cam.v0)*r2*cam.inv_py ;
}
//! line coordinates conversion (rho,theta)
static void convertLine(const vpCameraParameters &cam,
const double &rho_p, const double &theta_p,
double &rho_m, double &theta_m) ;
static void convertMoment(const vpCameraParameters &cam,
unsigned int order,
const vpMatrix &moment_pixel,
vpMatrix &moment_meter) ;
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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