Different machine vision algorithms in JeVois may be able to operate with different camera resolutions, such as 1280x1024, 320x240, or 176x144. When some item of interest is detected in the camera frame, one may often want to send the coordinates of that thing to the serial port. This poses a problem if one were to directly send the image coordinates of the item out, which is that now the receiver (e.g., an Arduino) needs to know which camera image resolution was used, so that it can properly interpret these coordinates. For example, if the visual attention (saliency) algorithm is running with 640x480 camera input, then a salient object at the center of the camera's field of view would have coordinates 320,240. But if the same saliency algorithm is configured to process 320x240 input video (so that it can run at a higher framerate), now an object at the center of the field of view would have coordinates 160,120. If one connects an Arduino that controls, for example, a pan/tilt head to JeVois, we need a way to communicate coordinates of target objects in the world independently of the video resolution used by the camera.

Thus, JeVois defines a standardized coordinate system, as follows:

center fo the camera's field of view is at x=0, y=0
left edge of the camera image is always at x=-1000
right edge of the camera image is always at x=1000
top edge of the camera image is usually at y=-750
bottom edge of the camera image is usually at y=750

Note that the value of 750 here comes from the assumption of a 4:3 aspect ratio for the camera sensor, and is actually defined in JEVOIS_CAMERA_ASPECT. All camera sensor resolutions use 4:3 aspect ratio and hence have y values between -750 and 750, except for 1280x1024, which has y values between -800 and 800.

When writing a machine vision algorithm that sends over serial the coordinates of things detected in the camera frames, be sure to first transform those coordinates from image to standardized space.

For more on how standardized coordinates are used to communicate with embedded controllers, and for 3D coordinates, see Standardized serial messages formatting

Collaboration diagram for Helper functions to convert coordinates from camera resolution to standardized:

Macros
#define	JEVOIS_CAMERA_ASPECT (16.0 / 9.0)
	Aspect ratio of the JeVois camera. More...

Functions
void	jevois::coords::imgToStd (float &x, float &y, RawImage const &camimg, float const eps=0.1F)
	Transform coordinates in-place from camera to standardized, using a RawImage to establish image size. More...

void	jevois::coords::imgToStd (float &x, float &y, unsigned int const width, unsigned int const height, float const eps=0.1F)
	Transform coordinates in-place from camera to standardized, using given image width and height. More...

void	jevois::coords::imgToStdX (float &x, unsigned int const width, float const eps=0.1F)
	Transform X coordinate in-place from camera to standardized, using given image width and height. More...

void	jevois::coords::imgToStdY (float &y, unsigned int const height, float const eps=0.1F)
	Transform Y coordinate in-place from camera to standardized, using given image width and height. More...

void	jevois::coords::imgToStdSize (float &w, float &h, unsigned int const width, unsigned int const height, float const eps=0.1F)
	Transform size in-place from camera to standardized, using given image width and height. More...

void	jevois::coords::stdToImg (float &x, float &y, RawImage const &camimg, float const eps=0.1F)
	Transform coordinates in-place from standardized to image, using a RawImage to establish image size. More...

void	jevois::coords::stdToImg (float &x, float &y, unsigned int const width, unsigned int const height, float const eps=0.1F)
	Transform coordinates in-place from standardized to image, using a RawImage to establish image size. More...

void	jevois::coords::stdToImgSize (float &x, float &y, unsigned int const width, unsigned int const height, float const eps=0.1F)
	Transform size in-place from standardized to image, using a RawImage to establish image size. More...

Macro Definition Documentation

◆ JEVOIS_CAMERA_ASPECT

#define JEVOIS_CAMERA_ASPECT (16.0 / 9.0)

Aspect ratio of the JeVois camera.

Definition at line 63 of file Coordinates.H.

Function Documentation

◆ imgToStd() [1/2]

void jevois::coords::imgToStd	(	float &	x,
		float &	y,
		jevois::RawImage const &	camimg,
		float const	eps = `0.1F`
	)

Transform coordinates in-place from camera to standardized, using a RawImage to establish image size.

The RawImage from the camera is used to specify pixel width and height of the camera image, and this is the source coordinate system. The destination coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 22 of file Coordinates.C.

References jevois::RawImage::height, and jevois::RawImage::width.

Referenced by jevois::StdModule::sendSerialContour2D(), and jevois::StdModule::sendSerialImg2D().

◆ imgToStd() [2/2]

void jevois::coords::imgToStd	(	float &	x,
		float &	y,
		unsigned int const	width,
		unsigned int const	height,
		float const	eps = `0.1F`
	)

Transform coordinates in-place from camera to standardized, using given image width and height.

The width and height are used to specify pixel width and height of the camera image, and this is the source coordinate system. The destination coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 26 of file Coordinates.C.

References JEVOIS_CAMERA_ASPECT.

◆ imgToStdSize()

void jevois::coords::imgToStdSize	(	float &	w,
		float &	h,
		unsigned int const	width,
		unsigned int const	height,
		float const	eps = `0.1F`
	)

Transform size in-place from camera to standardized, using given image width and height.

Arguments w and h define the size of an object in pixels, which will be converted to standardized units. The width and height are used to specify pixel width and height of the camera image, and this is the source coordinate system. The destination coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 50 of file Coordinates.C.

References h, and JEVOIS_CAMERA_ASPECT.

Referenced by jevois::StdModule::sendSerialImg1Dx(), jevois::StdModule::sendSerialImg1Dy(), and jevois::StdModule::sendSerialImg2D().

◆ imgToStdX()

void jevois::coords::imgToStdX	(	float &	x,
		unsigned int const	width,
		float const	eps = `0.1F`
	)

Transform X coordinate in-place from camera to standardized, using given image width and height.

The width is used to specify pixel width of the camera image, and this is the source coordinate system. The destination coordinate system is the standardized one, with x in [-1000 ... 1000].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 36 of file Coordinates.C.

Referenced by jevois::StdModule::sendSerialImg1Dx().

◆ imgToStdY()

void jevois::coords::imgToStdY	(	float &	y,
		unsigned int const	height,
		float const	eps = `0.1F`
	)

Transform Y coordinate in-place from camera to standardized, using given image width and height.

The height is used to specify pixel height of the camera image, and this is the source coordinate system. The destination coordinate system is the standardized one, with y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 43 of file Coordinates.C.

References JEVOIS_CAMERA_ASPECT.

Referenced by jevois::StdModule::sendSerialImg1Dy().

◆ stdToImg() [1/2]

void jevois::coords::stdToImg	(	float &	x,
		float &	y,
		jevois::RawImage const &	camimg,
		float const	eps = `0.1F`
	)

Transform coordinates in-place from standardized to image, using a RawImage to establish image size.

The RawImage would typically be from the camera is used to specify pixel width and height of the camera image, and this is the destination coordinate system. The source coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 60 of file Coordinates.C.

References jevois::RawImage::height, and jevois::RawImage::width.

◆ stdToImg() [2/2]

void jevois::coords::stdToImg	(	float &	x,
		float &	y,
		unsigned int const	width,
		unsigned int const	height,
		float const	eps = `0.1F`
	)

Transform coordinates in-place from standardized to image, using a RawImage to establish image size.

The width and height would typically be from the camera and are used to specify pixel width and height of the camera image, and this is the destination coordinate system. The source coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 64 of file Coordinates.C.

References JEVOIS_CAMERA_ASPECT.

◆ stdToImgSize()

void jevois::coords::stdToImgSize	(	float &	x,
		float &	y,
		unsigned int const	width,
		unsigned int const	height,
		float const	eps = `0.1F`
	)

Transform size in-place from standardized to image, using a RawImage to establish image size.

Arguments w and h define the size of an object in standardized units, which will be converted to pixels. The width and height would typically be from the camera and are used to specify pixel width and height of the camera image, and this is the destination coordinate system. The source coordinate system is the standardized one, with x in [-1000 ... 1000] and y in [-750 ... 750].

eps is used for rounding of returned coordinates, which is convenient to avoid sending very long floating point values over serial port.

Definition at line 74 of file Coordinates.C.

References h, and JEVOIS_CAMERA_ASPECT.

Macros

Functions

Macro Definition Documentation

◆ JEVOIS_CAMERA_ASPECT

Function Documentation

◆ imgToStd() [1/2]

◆ imgToStd() [2/2]

◆ imgToStdSize()

◆ imgToStdX()

◆ imgToStdY()

◆ stdToImg() [1/2]

◆ stdToImg() [2/2]

◆ stdToImgSize()