diff options
Diffstat (limited to 'ARToolKitPlus/src/CameraAdvImpl.cxx')
| -rw-r--r-- | ARToolKitPlus/src/CameraAdvImpl.cxx | 218 |
1 files changed, 0 insertions, 218 deletions
diff --git a/ARToolKitPlus/src/CameraAdvImpl.cxx b/ARToolKitPlus/src/CameraAdvImpl.cxx deleted file mode 100644 index 58adc74..0000000 --- a/ARToolKitPlus/src/CameraAdvImpl.cxx +++ /dev/null @@ -1,218 +0,0 @@ -/* ========================================================================
- * PROJECT: ARToolKitPlus
- * ========================================================================
- * This work is based on the original ARToolKit developed by
- * Hirokazu Kato
- * Mark Billinghurst
- * HITLab, University of Washington, Seattle
- * http://www.hitl.washington.edu/artoolkit/
- *
- * Copyright of the derived and new portions of this work
- * (C) 2006 Graz University of Technology
- *
- * This framework is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This framework is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this framework; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * For further information please contact
- * Dieter Schmalstieg
- * <schmalstieg@icg.tu-graz.ac.at>
- * Graz University of Technology,
- * Institut for Computer Graphics and Vision,
- * Inffeldgasse 16a, 8010 Graz, Austria.
- * ========================================================================
- ** @author Thomas Pintaric
- *
- * $Id: CameraAdvImpl.cxx 172 2006-07-25 14:05:47Z daniel $
- * @file
- * ======================================================================== */
-
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <math.h>
-
-#include <ARToolKitPlus/CameraAdvImpl.h>
-
-
-namespace ARToolKitPlus {
-
-
-CameraAdvImpl::CameraAdvImpl()
-{}
-
-CameraAdvImpl::~CameraAdvImpl()
-{}
-
-bool CameraAdvImpl::
-loadFromFile(const char* filename)
-{
- FILE *fp = fopen( filename, "r" );
- if( fp == NULL ) return(false);
-
- setFileName(filename);
-
- double _cc[2];
- double _fc[2];
- double _kc[6];
- int n;
-
- char _s[32];
- sprintf(_s,"%c%i%c%c%c",'%',(int)strlen(CAMERA_ADV_HEADER),'s','\\','n');
- char hdr[MAX_PATH];
- n=fscanf(fp, _s, hdr);
- if(strstr(hdr,CAMERA_ADV_HEADER) == NULL) return(false);
-
- n=fscanf(fp, "%d%d%lf%lf%lf%lf%lf%lf%lf%lf%lf%lf%d\n",
- &this->xsize, &this->ysize, &_cc[0],&_cc[1],&_fc[0],&_fc[1],
- &_kc[0],&_kc[1],&_kc[2],&_kc[3],&_kc[4],&_kc[5],&undist_iterations);
- if((n!=13) || ferror(fp))
- {
- return(false);
- }
-
- unsigned int i,j;
- this->cc[0] = (ARFloat) _cc[0];
- this->cc[1] = (ARFloat) _cc[1];
- this->fc[0] = (ARFloat) _fc[0];
- this->fc[1] = (ARFloat) _fc[1];
- for(i=0; i<6; i++) this->kc[i] = (ARFloat) _kc[i];
-
- for(i=0; i<3; i++)
- for(j=0; j<4; j++)
- this->mat[i][j] = 0.;
-
- mat[0][0] = fc[0]; // fc_x
- mat[1][1] = fc[1]; // fc_y
- mat[0][2] = cc[0]; // cc_x
- mat[1][2] = cc[1]; // cc_y
- mat[2][2] = 1.0;
-
- if (undist_iterations > CAMERA_ADV_MAX_UNDIST_ITERATIONS)
- undist_iterations = CAMERA_ADV_MAX_UNDIST_ITERATIONS;
-
- fclose(fp);
- return(true);
-}
-
-
-void CameraAdvImpl::
-observ2Ideal(ARFloat ox, ARFloat oy, ARFloat *ix, ARFloat *iy)
-{
- if(undist_iterations <= 0)
- {
- *ix = ox;
- *iy = oy;
- }
- else
- {
- const ARFloat xd[2] = { (ox - cc[0]) / fc[0], (oy - cc[1]) / fc[1] };
- const ARFloat k1 = kc[0];
- const ARFloat k2 = kc[1];
- const ARFloat k3 = kc[4];
- const ARFloat p1 = kc[2];
- const ARFloat p2 = kc[3];
-
- ARFloat x[2] = { xd[0], xd[1] };
- for(int kk=0; kk<undist_iterations; kk++)
- {
- const ARFloat x0_sq = (x[0]*x[0]);
- const ARFloat x1_sq = (x[1]*x[1]);
- const ARFloat x0_x1 = (x[0]*x[1]);
- const ARFloat r_2 = x0_sq + x1_sq;
- const ARFloat r_2_sq = (r_2 * r_2);
- const ARFloat k_radial = 1 + k1 * r_2 + k2 * (r_2_sq) + k3 * (r_2*r_2_sq);
- const ARFloat delta_x[2] = { 2*p1*x0_x1 + p2*(r_2 + 2*x0_sq),
- p1 * (r_2 + 2*x1_sq) + 2*p2*x0_x1 };
- x[0] = xd[0] - delta_x[0];
- x[1] = xd[1] - delta_x[1];
- x[0] /= k_radial;
- x[1] /= k_radial;
- }
-
- *ix = (x[0] * fc[0]) + cc[0];
- *iy = (x[1] * fc[1]) + cc[1];
- }
-}
-
-void CameraAdvImpl::
-ideal2Observ(ARFloat ix, ARFloat iy, ARFloat *ox, ARFloat *oy)
-{
- const ARFloat xu[2] = { (ix - cc[0]) / fc[0], (iy - cc[1]) / fc[1] };
-
- const ARFloat r2 = (xu[0]*xu[0]) + (xu[1]*xu[1]);
- const ARFloat r4 = r2*r2;
- const ARFloat r6 = r4*r2;
- const ARFloat cdist = 1 + kc[0] * r2 + kc[1] * r4 + kc[4] * r6;
-
- const ARFloat a1 = 2*xu[0]*xu[1];
- const ARFloat a2 = r2 + 2*(xu[0]*xu[0]);
- const ARFloat a3 = r2 + 2*(xu[1]*xu[1]);
-
- *ox = (xu[0] * cdist) + (kc[2]*a1 + kc[3]*a2);
- *oy = (xu[1] * cdist) + (kc[2]*a3 + kc[3]*a1);
-}
-
-Camera* CameraAdvImpl::clone()
-{
- CameraAdvImpl* pCam = new CameraAdvImpl();
- pCam->xsize = xsize;
- pCam->ysize = ysize;
- unsigned int i,j;
- for(i=0; i<3; i++) for(j=0; j<4; j++) pCam->mat[i][j] = mat[i][j];
- for(i=0; i<4; i++) pCam->dist_factor[i] = dist_factor[i];
- pCam->cc[0] = cc[0];
- pCam->cc[1] = cc[1];
- pCam->fc[0] = fc[0];
- pCam->fc[1] = fc[1];
- for(i=0; i<6; i++) pCam->kc[i] = kc[i];
- pCam->undist_iterations = undist_iterations;
- return((Camera*)pCam);
-}
-
-bool CameraAdvImpl::
-changeFrameSize(const int frameWidth, const int frameHeight)
-{
- if(frameWidth <=0 || frameHeight <=0) return(false);
- const ARFloat scale = (ARFloat)frameWidth / (ARFloat)xsize;
- xsize = frameWidth;
- ysize = frameHeight;
-
- for(int i = 0; i < 4; i++ )
- {
- mat[0][i] *= scale;
- mat[1][i] *= scale;
- }
-
- cc[0] *= scale; cc[1] *= scale;
- fc[0] *= scale; fc[1] *= scale;
-
- return(true);
-}
-
-void CameraAdvImpl::
-logSettings(Logger* logger)
-{
- if(logger != NULL)
- {
- logger->artLogEx("ARToolKitPlus: CamSize %d , %d\n", xsize, ysize);
- logger->artLogEx("ARToolKitPlus: cc = [%.2f %.2f] fc = [%.2f %.2f]\n",
- cc[0], cc[1], fc[0], fc[1]);
- logger->artLogEx("ARToolKitPlus: kc = [%.4f %.4f %.4f %.4f %.4f %.4f]\n",
- kc[0], kc[1], kc[2], kc[3], kc[4], kc[5]);
- logger->artLogEx("ARToolKitPlus: undist_iterations = %i\n", undist_iterations);
- }
-}
-
-
-} // namespace ARToolKitPlus
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