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134 | /*
* File: CameraInfo.cpp
* Author: Claas-Norman Ritter
*
* Created on 1. Februar 2009, 20:07
*/
#include "CameraInfo.h"
#include "Tools/Math/Common.h"
#include <Messages/Framework-Representations.pb.h>
#include <google/protobuf/io/zero_copy_stream_impl.h>
using namespace naoth;
using namespace std;
double CameraInfo::getFocalLength() const
{
double halfDiagLength = 0.5 * hypot(resolutionWidth, resolutionHeight);
// senity check
ASSERT(halfDiagLength > 0.0 && getOpeningAngleDiagonal() > 0.0);
return halfDiagLength / tan(0.5 * getOpeningAngleDiagonal());
}
double CameraInfo::getOpeningAngleHeight() const {
return 2.0 * atan2(static_cast<double>(resolutionHeight), getFocalLength() * 2.0);
}
double CameraInfo::getOpeningAngleWidth() const {
return 2.0 * atan2(static_cast<double>(resolutionWidth), getFocalLength() * 2.0);
}
double CameraInfo::getOpticalCenterX() const {
return static_cast<double>(resolutionWidth / 2);
}
double CameraInfo::getOpticalCenterY() const {
return static_cast<double>(resolutionHeight / 2);
}
unsigned long CameraInfo::getSize() const {
return resolutionHeight * resolutionWidth;<--- int result is returned as long value. If the return value is long to avoid loss of information, then you have loss of information. [+]int result is returned as long value. If the return value is long to avoid loss of information, then there is loss of information. To avoid loss of information you must cast a calculation operand to long, for example 'return a*b;' => 'return (long)a*b'.
}
double CameraInfo::getOpeningAngleDiagonal() const {
return params.openingAngleDiagonal;
}
void CameraInfo::print(ostream& stream) const
{
stream << "Camera ID: " << cameraID << endl
<< "Resolution Width, Height: " << resolutionWidth << ", " << resolutionHeight << endl
<< "Opening Angle Diagonal (config): " << getOpeningAngleDiagonal() << "rad ["
<< Math::toDegrees(getOpeningAngleDiagonal()) << " deg]" << endl
<< "Opening Angle Width (calculated): " << getOpeningAngleWidth() << " rad ["
<< Math::toDegrees(getOpeningAngleWidth()) << "deg]" << endl
<< "Opening Angle Height (calculated): " << getOpeningAngleHeight() << " rad ["
<< Math::toDegrees(getOpeningAngleHeight()) << "deg]" << endl
<< "Optical Center (calculated): " << getOpticalCenterX() << " Pixel, " << getOpticalCenterY() << " Pixel" << endl
<< "Focal Length (calculated): "<< getFocalLength() << " Pixel"<< endl
/*
<< "Pixel Size: "<< params.pixelSize << " mm" << endl
<< "Focal Length: "<< params.focus << " mm" << endl
<< "Error to Center: " << params.xp << " mm, " << params.yp << " mm" << endl
<< "Radial Symmetric Error: " << params.k1 << " mm, " << params.k2 << " mm, " << params.k3 << " mm" << endl
<< "Radial Asymmetric and Tangential Error: " << params.p1 << " mm, " << params.p2 << " mm" << endl
<< "Affinity and Shearing Error: " << params.b1 << " mm, " << params.b2 << " mm" << endl
*/
;
}
CameraInfoParameter::CameraInfoParameter(const std::string& idName)
:
ParameterList("CameraInfo" + idName)
{
PARAMETER_ANGLE_REGISTER(openingAngleDiagonal) = 72.6;
/*
//size of an Pixel on the chip
PARAMETER_REGISTER(pixelSize) = 0.0036;
//measured focus
PARAMETER_REGISTER(focus) = 1.37;
//moved middle point
PARAMETER_REGISTER(xp) = 0.0;
PARAMETER_REGISTER(yp) = 0.0;
//radial symmetric distortion parameters
PARAMETER_REGISTER(k1) = 0.0;
PARAMETER_REGISTER(k2) = 0.0;
PARAMETER_REGISTER(k3) = 0.0;
//radial asymmetric and tangential distortion parameters
PARAMETER_REGISTER(p1) = 0.0;
PARAMETER_REGISTER(p2) = 0.0;
//affinity and shearing distortion parameters
PARAMETER_REGISTER(b1) = 0.0;
PARAMETER_REGISTER(b2) = 0.0;
*/
syncWithConfig();
}
void Serializer<CameraInfo>::serialize(const CameraInfo& representation, std::ostream& stream)
{
naothmessages::CameraInfo msg;
msg.set_resolutionwidth(static_cast<int>(representation.resolutionWidth));
msg.set_resolutionheight(static_cast<int>(representation.resolutionHeight));
msg.set_cameraid((naothmessages::CameraID) representation.cameraID);
msg.set_openinganglediagonal(representation.params.openingAngleDiagonal);
//msg.set_focus(representation.params.focus);
//msg.set_pixelsize(representation.params.pixelSize);
google::protobuf::io::OstreamOutputStream buf(&stream);
msg.SerializeToZeroCopyStream(&buf);
}
void Serializer<CameraInfo>::deserialize(std::istream& stream, CameraInfo& r)
{
naothmessages::CameraInfo msg;
google::protobuf::io::IstreamInputStream buf(&stream);
msg.ParseFromZeroCopyStream(&buf);
r.resolutionWidth = static_cast<unsigned int>(msg.resolutionwidth());
r.resolutionHeight = static_cast<unsigned int>(msg.resolutionheight());
r.cameraID = (CameraInfo::CameraID) msg.cameraid();
r.params.openingAngleDiagonal = msg.openinganglediagonal();
//r.params.focus = msg.focus();
//r.params.pixelSize = msg.pixelsize();
}
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