Hey. I'm building an iPad app and I need to mark specific points on top of a map (UIImageView). I have the coordinates in inches, but I'm having trouble mapping the inch-based coords to iOS points, I've googled for hours and nothing too conclusive.
Any ideas?
Thank you.
So you have actual units and want to convert those to points?
The iPad screen has a 9.7" diagonal. In points, it's 1024x768. So, applying Pythagoras, that's 1280 points on the diagonal. Therefore the points per inch is very close to 132, which I've also seen given elsewhere without computation from first principles.
So, a distance of x inches is x * 132 points. E.g. 1.5" is 198 points.
Related
When you make a line profile of all x-values or all y-values the extraction from each pixel is clear. But when you take a line profile along a diagonal, how does DM choose which pixels to use in the one dimensional readout?
Not really a scripting question, but I'm rather certain that it uses bi-linear interpolation between the grid-points along the drawn line. (And if perpendicular integration is enabled, it does so in an integral.) It's the same interpolation you would get for a "rotate" image.
In fact, you can think of it as a rotate-image (bi-linearly interpolated) with a 'cut-out' afterwards, potentially summed/projected onto the new X-axis.
Here is an example
Assume we have a 5 x 4 image, which gives the grid as shown below.
I'm drawing top-left corners to indicate the coordinates system pixel convention used in DigitalMicrgraph, where
(x/y)=(0/0) is the top-left corner of the image
Now extract a LineProfile from (1/1) to (4/3). I have highlighted the pixels for those coordinates.
Note, that a Line drawn from the corners seems to be shifted by half-a-pixel from what feels 'natural', but that is the consequence of the top-left-corner convention. I think, this is why a LineProfile-Marker is shown shifted compared to f.e. LineAnnotations.
In general, this top-left corner convention makes schematics with 'pixels' seem counter-intuitive. It is easier to think of the image simply as grid with values in points at the given coordinates than as square pixels.
Now the maths.
The exact profile has a length of:
As we can only have profiles with integer channels, we actually extract a LineProfile of length = 4, i.e we round up.
The angle of the profile is given by the arc-tangent of dX and dY.
So to extract the profile, we 'rotate' the grid by that angle - done by bilinear interpolation - and then extract the profile as grid of size 4 x 1:
This means the 'values' in the profile are from the four points:
Which are each bi-linearly interpolated values from four closest points of the original image:
In case the LineProfile is averaged over a certain width W, you do the same thing but:
extract a 2D grid of size L x W centered symmetrically over the line.i.e. the grid is shifted by (W-1)/2 perpendicular to the profile direction.
sum the values along W
I'm just curious because im making a game, at least trying. And i have a little ship, and of course if its moving at a speed of 1 pixel per tick of a timer (16ms (60fps)) and its facing straight up it's Y axis movement is just 1 pixel per tick and X axis is 0... But if its rotated 5 degrees clockwise, its Y axis movement would need to be (1/18 * 17) and X axis would need to be (1/18)... and that would mean the ship is supposed to be moving upwards at about 0.95 pixels per tick and right at about 0.05 pixels per tick, which it obviously cant do because you cant have less than 1 of a pixel... Is there another way i haven't thought of? And did I explain that well, does it make sense?
Thanks to #Martheen
"Maintain the real position elsewhere and only calculate the actual pixel position when rendering. This way after a few frames or so it will move, like watching a radar screen or slowed-down video – Martheen"
MSDN's truetype font article (https://learn.microsoft.com/en-us/typography/opentype/otspec160/ttch01) gives the following for converting FUnits to pixels:
Values in the em square are converted to values in the pixel coordinate system by multiplying them by a scale. This scale is:
pointSize * resolution / ( 72 points per inch * units_per_em )
where pointSize is the size at which the glyph is to be displayed, and resolution is the resolution of the output device. The 72 in the denominator reflects the number of points per inch.
For example, assume that a glyph feature is 550 FUnits in length on a 72 dpi screen at 18 point. There are 2048 units per em. The following calculation reveals that the feature is 4.83 pixels long.
550 * 18 * 72 / ( 72 * 2048 ) = 4.83
Questions:
It says "pointSize is the size at which the glyph is to be displayed." How does one compute this, and what units is it in?
It says "resolution is the resolution of the output device". Is this in DPI? Where would I get this information?
It says "72 in the denominator reflects the number of points per inch." Is this related to DPI or no?
In the example, it says '18 point'. Is this 18 used in computing the resolution or the pointSize?
Unfortunately, Apple's documentation is more or less the same, and other than that there are barely any resources other than just reading the source code of stb_truetype.
It says "pointSize is the size at which the glyph is to be displayed." How does one compute this, and what units is it in?
You don’t compute the point size, you set it. It’s the nominal size you want the font to be displayed in (think the font menu in a text editor). The ‘point size’ is a traditional typographical measurement system, with ‘point’ being roughly 1/72 of an inch. This brings the other question:
It says "72 in the denominator reflects the number of points per inch." Is this related to DPI or no?
No. Again, these are typographical points — the same unit you set the point size with. That’s why it’s part of the denominator in the first place: the point size is expressed in a measurement system of 72 points to an inch, and that has to be somehow taken into account in the equation.
Now, the typographical points are different from the output device’s dots or pixels. While in the early days of desktop publishing it was common to have a screen resolution of 72 pixels per inch that indeed corresponded to typographical system of 72 points per inch (no coincidence in that), these days the output resolution can, of course, vary quite dramatically, so it’s important to keep the point vs pixel distinction in mind.
In the example, it says '18 point'. Is this 18 used in computing the resolution or the pointSize?
Neither. It is the point size; see above. The entire example could be translated as follows. With a font based on 2048 units per em, if a particular glyph feature is 550 em units long and the glyph gets displayed at the size of 18 points (that is, 18/72 of an inch) on a device with screen resolution of 72 pixels per inch, the pixel size of that feature will be 4.84.
It says "resolution is the resolution of the output device". Is this in DPI? Where would I get this information?
It’s DPI/PPI, yes. You have to query some system API for that information or just hardcode the value if you’re targeting a specific device.
Recently I'm struggling with a pose estimation problem with a single camera. I have some 3D points and the corresponding 2D points on the image. Then I use solvePnP to get the rotation and translation vectors. The problem is, how can I determine whether the vectors are right results?
Now I use an indirect way to do this:
I use the rotation matrix, the translation vector and the world 3D coordinates of a certain point to obtain the coordinates of that point in Camera system. Then all I have to do is to determine whether the coordinates are reasonable. I think I know the directions of x, y and z axes of Camera system.
Is Camera center the origin of the Camera system?
Now consider the x component of that point. Is x equavalent to the distance of the camera and the point in the world space in Camera's x-axis direction (the sign can then be determined by the point is placed on which side of the camera)?
The figure below is in world space, while the axes depicted are in Camera system.
========How Camera and the point be placed in the world space=============
|
|
Camera--------------------------> Z axis
| |} Xw?
| P(Xw, Yw, Zw)
|
v x-axis
My rvec and tvec results seems right and wrong. For a specified point, the z value seems reasonable, I mean, if this point is about one meter away from the camera in the z direction, then the z value is about 1. But for x and y, according to the location of the point I think x and y should be positive but they are negative. What's more, the pattern detected in the original image is like this:
But using the points coordinates calculated in Camera system and the camera intrinsic parameters, I get an image like this:
The target keeps its pattern. But it moved from bottom right to top left. I cannot understand why.
Yes, the camera center is the origin of the camera coordinate system, which seems to be right following to this post.
In case of camera pose estimation, value seems reasonable can be named as backprojection error. That's a measure of how well your resulting rotation and translation map the 3D points to the 2D pixels. Unfortunately, solvePnP does not return a residual error measure. Therefore one has to compute it:
cv::solvePnP(worldPoints, pixelPoints, camIntrinsics, camDistortion, rVec, tVec);
// Use computed solution to project 3D pattern to image
cv::Mat projectedPattern;
cv::projectPoints(worldPoints, rVec, tVec, camIntrinsics, camDistortion, projectedPattern);
// Compute error of each 2D-3D correspondence.
std::vector<float> errors;
for( int i=0; i < corners.size(); ++i)
{
float dx = pixelPoints.at(i).x - projectedPattern.at<float>(i, 0);
float dy = pixelPoints.at(i).y - projectedPattern.at<float>(i, 1);
// Euclidean distance between projected and real measured pixel
float err = sqrt(dx*dx + dy*dy);
errors.push_back(err);
}
// Here, compute max or average of your "errors"
An average backprojection error of a calibrated camera might be in the range of 0 - 2 pixel. According to your two pictures, this would be way more. To me, it looks like a scaling problem. If I am right, you compute the projection yourself. Maybe you can try once cv::projectPoints() and compare.
When it comes to transformations, I learned not to follow my imagination :) The first thing I Do with the returned rVec and tVec is usually creating a 4x4 rigid transformation matrix out of it (I posted once code here). This makes things even less intuitive, but instead it is compact and handy.
Now I know the answers.
Yes, the camera center is the origin of the camera coordinate system.
Consider that the coordinates in the camera system are calculated as (xc,yc,zc). Then xc should be the distance between the camera and
the point in real world in the x direction.
Next, how to determine whether the output matrices are right?
1. as #eidelen points out, backprojection error is one indicative measure.
2. Calculate the coordinates of the points according to their coordinates in the world coordinate system and the matrices.
So why did I get a wrong result(the pattern remained but moved to a different region of the image)?
Parameter cameraMatrix in solvePnP() is a matrix supplying the parameters of the camera's external parameters. In camera matrix, you should use width/2 and height/2 for cx and cy. While I use width and height of the image size. I think that caused the error. After I corrected that and re-calibrated the camera, everything seems fine.
I've got a bunch of thumbnails/icons packed right up next to each other in a texture map / sprite sheet. From a pixel to pixel relationship, these are being scaled up from being 145 pixels square to 238 screen pixels square. I was expecting to get +-1 or 2 pixel accuracy on the edges of the box when accessing the texture coordinates, so I'm also drawing a 4 pixel outline overtop of the thumbnail to hide this probable artifact. But I'm seeing huge variations in accuracy. Sometimes it's off in one direction, sometimes the other.
I've checked over the math and I can't figure out what's happening.
The the thumbnail is being scaled up about 1.64 times. So a single pixel off in the source texture coordinate could result in around 2 pixels off on the screen. The 4 pixel white frame over top is being drawn at a 1-1 pixel to fragment relationship and is supposed to cover about 2 pixels on either side of the edge of the box. That part is working. Here I've turned off the border to show how far off the texture coordinates are....
I can tweak the numbers manually to make it go away. But I have to shrink the texture coordinate width/height by several source pixels and in some cases add (or subtract) 5 or 6 pixels to the starting point. I really just want the math to work out or to figure out what I'm doing wrong here. This sort of stuff drives me nuts!
A bunch of crap to know.
The shader is doing the texture coordinate offsetting in the vertex shader...
v_fragmentTexCoord0 = vec2((a_vertexTexCoord0.x * u_texScale) + u_texOffset.s, (a_vertexTexCoord0.y * u_texScale) + u_texOffset.t);
gl_Position = u_modelViewProjectionMatrix * vec4(a_vertexPosition,1.0);
This object is a box which is a triangle strip with 2 tris.
Not that it should matter, but matrix applied to the model isn't doing any scaling. The box is to screen scale. The scaling is happening only in the texture coordinates that are being supplied.
The texture coordinates of the object as seen above are 0.00 - 0.07, then in the shader have an addition of an offset amount which is different per thumbnail. .07 out of 2048 is like 143. Originally I had it at .0708 which should be closer to 145 it was worse and showed more like 148 pixels from the texture. To get it to only show 145 source pixels I have to make it .0.06835 which is 140 pixels.
I've tried doing the math in a calculator and typing in the numbers directly. I've also tried doing like =1305/2048. These are going in to GLfloats not doubles.
This texture map image is PNG and is loaded with these settings:
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE );
but I've also tried GL_LINEAR with no apparent difference.
I'm not having any accuracy problems on other textures (in the same texture map) where I'm not doing the texture scaling.
It doesn't get farther off as the coords get higher. In the image above the NEG MAP thumb is right next to the HEAT MAP thumb and are off in different directions but correct at the seam.
here's the offset data for those two..
filterTypes[FT_gradientMap20].thumbTexOffsetS = 0.63720703125;
filterTypes[FT_gradientMap20].thumbTexOffsetT = 0.1416015625;
filterTypes[FT_gradientMap21].thumbTexOffsetS = 0.7080078125;
filterTypes[FT_gradientMap21].thumbTexOffsetT = 0.1416015625;
==== UPDATE ====
A couple of things off the bat I realized I was doing wrong and are discussed over here: OpenGL Texture Coordinates in Pixel Space
The width of a single thumbnail is 145. But that would be 0-144, with 145 starting the next one. I was using a width of 145 so that's going to be 1 pixel too big. Using the above center of pixel type math, we should actually go from the center of 0 to the center of 144. 144.5 - 0.5 = 144.
Using his formula of (2i + 1)/(2N) I made new offset amounts for each of the starting points and used the 144/2048 as the width. That made things better but still off in some areas. And again still off in one direction sometimes and the other other times. Although consistent for each x or y position.
Using a width of 143 proves better results. But I can fix them all by just adjusting the numbers manually to work. I want to have the math to make it work out right.
... or.. maybe it has something to do with min/mag filtering - although I read up on that and what I'm doing seems right for this case.
After a lot of experiments and having to create a grid-lined guide texture so I could see exactly how far off each texture was... I finally got it!
It's pretty simple actually.
uniform mat4 u_modelViewProjectionMatrix;
uniform mediump vec2 u_texOffset;
uniform mediump float u_texScale;
attribute vec3 a_vertexPosition;
attribute mediump vec2 a_vertexTexCoord0;
The precision of the texture coordinates. By specifying mediump it just fixed itself. I suspect this also would help solve the problem I was having in this question:
Why is a texture coordinate of 1.0 getting beyond the edge of the texture?
Once I did that, I had to go back to my original 145 width (which still seems wrong but oh well). And for what it's worth I ended up then going back to all my original math on all the texture coordinates. The "center of pixel" method was showing more of the neighboring pixels than the straight /2048 did.