[Jderobot-admin] jderobot-r959 - in trunk/src/libs/geometry: . math progeo

eperdices en jderobot.org eperdices en jderobot.org
Vie Ago 2 10:42:48 CEST 2013


Author: eperdices
Date: 2013-08-02 10:41:48 +0200 (Fri, 02 Aug 2013)
New Revision: 959

Added:
   trunk/src/libs/geometry/progeo/progeo2.cpp
   trunk/src/libs/geometry/progeo/progeo3.h
Modified:
   trunk/src/libs/geometry/CMakeLists.txt
   trunk/src/libs/geometry/math/Line2D.cpp
   trunk/src/libs/geometry/math/Line2D.h
Log:
Adaptado progeo para usar directamente Eigen



Modified: trunk/src/libs/geometry/CMakeLists.txt
===================================================================
--- trunk/src/libs/geometry/CMakeLists.txt	2013-08-01 21:48:02 UTC (rev 958)
+++ trunk/src/libs/geometry/CMakeLists.txt	2013-08-02 08:41:48 UTC (rev 959)
@@ -7,7 +7,7 @@
 ADD_LIBRARY(geometry_shared SHARED math/matriz3x3.cpp  math/matriz4x4.cpp  math/plano.cpp  math/recta.cpp  
 				   math/segmento.cpp  math/utils.cpp  math/vector2d.cpp  math/vector2H.cpp  math/vector3.cpp  math/vector3H.cpp
 				   math/Line2D.cpp 
-                                   collada/colladaparser.cpp collada/color.cpp collada/malla.cpp collada/material.cpp collada/submalla.cpp progeo/progeo.cpp)
+                                   collada/colladaparser.cpp collada/color.cpp collada/malla.cpp collada/material.cpp collada/submalla.cpp progeo/progeo2.cpp)
 
 target_link_libraries(geometry_shared tinyxml GLU )
 
@@ -16,7 +16,7 @@
 ADD_LIBRARY(geometry_static STATIC math/matriz3x3.cpp  math/matriz4x4.cpp  math/plano.cpp  math/recta.cpp  
                                    math/segmento.cpp  math/utils.cpp  math/vector2d.cpp  math/vector2H.cpp  math/vector3.cpp  math/vector3H.cpp 
                                    math/Line2D.cpp
-                                   collada/colladaparser.cpp collada/color.cpp collada/malla.cpp collada/material.cpp collada/submalla.cpp progeo/progeo.cpp)
+                                   collada/colladaparser.cpp collada/color.cpp collada/malla.cpp collada/material.cpp collada/submalla.cpp progeo/progeo2.cpp)
 
 target_link_libraries(geometry_shared tinyxml GLU ) 
 SET_TARGET_PROPERTIES(geometry_shared geometry_static PROPERTIES OUTPUT_NAME geometry)

Modified: trunk/src/libs/geometry/math/Line2D.cpp
===================================================================
--- trunk/src/libs/geometry/math/Line2D.cpp	2013-08-01 21:48:02 UTC (rev 958)
+++ trunk/src/libs/geometry/math/Line2D.cpp	2013-08-02 08:41:48 UTC (rev 959)
@@ -1,3 +1,26 @@
+/*
+ *
+ *  Copyright (C) 1997-2013 JDERobot Developers Team
+ *
+ *  This program 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 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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 program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Alejandro Hernández <ahcorde [at] gmail [dot] com>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
+ *            Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *
+ */
+
 #include "Line2D.h"
 
 Line2D::Line2D() {

Modified: trunk/src/libs/geometry/math/Line2D.h
===================================================================
--- trunk/src/libs/geometry/math/Line2D.h	2013-08-01 21:48:02 UTC (rev 958)
+++ trunk/src/libs/geometry/math/Line2D.h	2013-08-02 08:41:48 UTC (rev 959)
@@ -1,4 +1,28 @@
-/*Represents a 2D line with the general equation of the line: Ax+By+C = 0*/
+/*
+ *
+ *  Copyright (C) 1997-2013 JDERobot Developers Team
+ *
+ *  This program 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 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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 program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Alejandro Hernández <ahcorde [at] gmail [dot] com>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
+ *            Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *
+ *
+ *
+ *  Line2D: Represents a 2D line with the general equation of the line: Ax+By+C = 0
+ */
 
 #ifndef LINE2D_H
 #define LINE2D_H

Added: trunk/src/libs/geometry/progeo/progeo2.cpp
===================================================================
--- trunk/src/libs/geometry/progeo/progeo2.cpp	                        (rev 0)
+++ trunk/src/libs/geometry/progeo/progeo2.cpp	2013-08-02 08:41:48 UTC (rev 959)
@@ -0,0 +1,579 @@
+/*
+ *
+ *  Copyright (C) 1997-2013 JDERobot Developers Team
+ *
+ *  This program 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 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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 program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Alejandro Hernández <ahcorde [at] gmail [dot] com>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
+ *            Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *
+ */
+
+#include "progeo3.h"
+namespace Progeo {
+
+  Progeo::Progeo()
+  {
+  }
+  
+  Progeo::Progeo(Eigen::Vector4d posCamera,
+		 Eigen::Matrix3d KMatrix,
+		 Eigen::Matrix4d RTMatrix,
+		 int width, int height)
+  {
+
+    setPosition(posCamera);
+    setKMatrix(KMatrix);
+    setRTMatrix(RTMatrix);
+    setImageSize(width, height);
+  }
+
+  Progeo::Progeo(std::string filename)
+  {
+    xmlDocPtr doc;
+    xmlNodePtr cur, curAux, curAux_child;
+    doc = xmlParseFile(filename.c_str());
+    if (doc == NULL ) {
+      fprintf(stderr,"Document not parsed successfully. \n");
+      return;
+    }
+    
+    cur = xmlDocGetRootElement(doc);
+    if (cur == NULL) {
+        fprintf(stderr,"empty document\n");
+        xmlFreeDoc(doc);
+        return;
+    }
+
+    if (xmlStrcmp(cur->name, (const xmlChar *) "calibration_camera")) {
+        fprintf(stderr,"document of the wrong type, root node != calibration_camera");
+        xmlFreeDoc(doc);
+        return;
+    }
+
+    while (cur != NULL) {
+        if ((!xmlStrcmp(cur->name, (const xmlChar *)"calibration_camera"))) {
+
+            xmlChar *key;
+            curAux = cur->xmlChildrenNode;
+
+            while (curAux != NULL) {
+                /*
+                if ((!xmlStrcmp(curAux->name, (const xmlChar *)"name"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+
+                    char a[((string)key).size()+1];
+                    a[key.size()]=0;
+                    memcpy(a,key.c_str(),s.size());
+
+                    this->name = a;
+                    xmlFree(key);
+                }else */if ((!xmlStrcmp(curAux->name, (const xmlChar *)"roll"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->roll = atof((char*)(char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"fdistx"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->fdistx = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"fdisty"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->fdisty = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"u0"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->u0 = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"v0"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->v0 = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"skew"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->skew = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"rows"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->rows = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"columns"))) {
+                    key = xmlNodeListGetString(doc, curAux->xmlChildrenNode, 1);
+                    this->columns = atof((char*)key);
+                    xmlFree(key);
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"position"))) {
+                    curAux_child = curAux->xmlChildrenNode;
+
+                    while (curAux_child != NULL) {
+                        if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"x"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->position(0) = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"y"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->position(1) = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"z"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->position(2) = atof((char*)key);
+                            xmlFree(key);
+
+                        }
+                        curAux_child = curAux_child->next;
+                    }
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"foa"))) {
+                    curAux_child = curAux->xmlChildrenNode;
+
+                    while (curAux_child != NULL) {
+                        if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"x"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->foa(0) = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"y"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->foa(1) = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"z"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->foa(2) = atof((char*)key);
+                            xmlFree(key);
+
+                        }
+                        curAux_child = curAux_child->next;
+                    }
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"k_matrix"))) {
+                    curAux_child = curAux->xmlChildrenNode;
+
+                    while (curAux_child != NULL) {
+                        if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k11"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k11 = atof((char*)key);
+                            K(0,0) = this->k11;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k12"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k12 = atof((char*)key);
+                            K(0,1) = this->k12;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k13"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k13 = atof((char*)key);
+                            K(0,2) = this->k13;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k14"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k14 = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k21"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k21 = atof((char*)key);
+                            K(1,0) = this->k21;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k22"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k22 = atof((char*)key);
+                            K(1,1) = this->k22;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k23"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k23 = atof((char*)key);
+                            K(1,2) = this->k23;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k24"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k24 = atof((char*)key);
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k31"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k31 = atof((char*)key);
+                            K(2,0) = this->k31;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k32"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k32 = atof((char*)key);
+                            K(2,1) = this->k32;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k33"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k33 = atof((char*)key);
+                            K(2,2) = this->k33;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"k34"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->k34 = atof((char*)key);
+                            xmlFree(key);
+
+                        }
+                        curAux_child = curAux_child->next;
+                    }
+                } else if ((!xmlStrcmp(curAux->name, (const xmlChar *)"rt_matrix"))) {
+                    curAux_child = curAux->xmlChildrenNode;
+
+                    while (curAux_child != NULL) {
+                        if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt11"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt11 = atof((char*)key);
+                            RT(0,0) = this->rt11;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt12"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt12 = atof((char*)key);
+                            RT(0,1) = this->rt12;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt13"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt13 = atof((char*)key);
+                            RT(0,2) = this->rt13;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt14"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt14 = atof((char*)key);
+                            RT(0,3) = this->rt14;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt21"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt21 = atof((char*)key);
+                            RT(1,0) = this->rt21;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt22"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt22 = atof((char*)key);
+                            RT(1,1) = this->rt22;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt23"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt23 = atof((char*)key);
+                            RT(1,2) = this->rt23;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt24"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt24 = atof((char*)key);
+                            RT(1,3) = this->rt24;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt31"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt31 = atof((char*)key);
+                            RT(2,0) = this->rt31;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt32"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt32 = atof((char*)key);
+                            RT(2,1) = this->rt32;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt33"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt33 = atof((char*)key);
+                            RT(2,2) = this->rt33;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt34"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt34 = atof((char*)key);
+                            RT(2,3) = this->rt34;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt41"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt41 = atof((char*)key);
+                            RT(3,0) = this->rt41;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt42"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt42 = atof((char*)key);
+                            RT(3,1) = this->rt42;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt43"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt43 = atof((char*)key);
+                            RT(3,2) = this->rt43;
+                            xmlFree(key);
+
+                        } else if ((!xmlStrcmp(curAux_child->name, (const xmlChar *)"rt44"))) {
+                            key = xmlNodeListGetString(doc, curAux_child->xmlChildrenNode, 1);
+                            this->rt44 = atof((char*)key);
+                            RT(3,3) = this->rt44;
+                            xmlFree(key);
+
+                        }
+                        curAux_child = curAux_child->next;
+                    }
+                }
+                curAux = curAux->next;
+            }
+        }
+        cur = cur->next;
+    }
+
+    xmlFreeDoc(doc);
+    return;
+}
+
+void Progeo::display_camerainfo() {
+    printf("------------------------------------------------------\n");
+    printf("Camera %s\n\n", this->name.c_str());
+    printf("     Position: (X,Y,Z,H)=(%.1f,%.1f,%.1f,%.1f)\n",   position(0),
+           position(1),
+           position(2),
+           position(3));
+    printf("     Focus of Attention: (x,y,z,h)=(%.1f,%.1f,%.1f,%.1f)\n\n",  foa(0),
+           foa(1),
+           foa(2),
+           foa(3));
+    printf("     Focus DistanceX(vertical): %.1f mm\n",fdistx);
+    printf("     Focus DistanceY(horizontal): %.1f mm\n",fdisty);
+
+    printf("     Skew: %.5f \n",skew);
+    printf("     Optical Center: (x,y)=(%.1f,%.1f)\n\n",u0,v0);
+
+    //  std::cout << "\t\tK Matrix:\t" << k11 << " " << k12 << " " << k13 << " " << k14 << std::endl;
+    //  std::cout << "\t\t\t" << k21 << " " << k22 << " " << k23 << " " << k24 << std::endl;
+    //  std::cout << "\t\t\t" << k31 << " " << k32 << " " << k33 << " " << k34 << std::endl;
+    //std::cout << "\t\t\t\t" << k41 << " " << k42 << " " << k43 << " " << k44 << std::endl;
+
+    std::cout << "K Matrix: \n" << K << std::endl;
+
+    //  std::cout << "\t\tR&T Matrix:\t" << rt11 << " " << rt12 << " " << rt13 << " " << rt14 << std::endl;
+    //  std::cout << "\t\t\t" << rt21 << " " << rt22 << " " << rt23 << " " << rt24 << std::endl;
+    //  std::cout << "\t\t\t" << rt31 << " " << rt32 << " " << rt33 << " " << rt34 << std::endl;
+    //  std::cout << "\t\t\t" << rt41 << " " << rt42 << " " << rt43 << " " << rt44 << std::endl;
+
+    std::cout <<" R&T Matrix:\n"<<  RT << std::endl;
+
+    printf("------------------------------------------------------\n");
+}
+
+int Progeo::project(Eigen::Vector4d in, Eigen::Vector3d &out)
+/* returns -1 if the point lies behind the camera,
+   returns 1 if "in" 3Dpoint projects into a 2D finite point,
+   0 otherwise */
+{
+    Eigen::Vector4d a;
+    a = RT*in;
+
+    out = K*a.head(3);
+
+    // optical 2 graphics
+    out(0) = out(0)/out(3);
+    out(1) = out(1)/out(3);
+    out(2) = 1.0;
+
+    double aux = out(0);
+    out(0) = out(1);
+    out(1) = this->rows-1-aux;
+
+    if (out(3)!=0.) {
+        return 1;
+    } else {
+        return 0;
+    }
+}
+
+void Progeo::backproject(Eigen::Vector3d point, Eigen::Vector4d& pro)
+{
+
+    //GRAPHIC_TO_OPTICAL
+    int opX = this->rows -1 -point(1);
+    int opY = point(0);
+
+    Eigen::Matrix3d ik;
+    ik = K;
+    ik = ik.inverse();
+
+    Eigen::Vector3d Pi(opX*this->k11/point(3), opY*this->k11/point(3),this->k11);
+
+    Eigen::Vector3d a;
+    a = ik*Pi;
+
+    Eigen::Vector4d aH;
+    aH(0) = a(0);
+    aH(1) = a(1);
+    aH(2) = a(3);
+    aH(3) = 1.0;
+
+    Eigen::Matrix4d RT2;
+    RT2 = RT;
+
+    RT2(0, 3) = .0;
+    RT2(1, 3) = .0;
+    RT2(2, 3) = .0;
+    RT2(3, 3) = 1.0;
+
+
+    Eigen::Vector4d b;
+
+    b = RT2*aH;
+
+    Eigen::Matrix4d Translate;
+    Translate.setIdentity();
+    Translate(0, 3) = position(0);
+    Translate(1, 3) = position(1);
+    Translate(2, 3) = position(2);
+
+    b = Translate*b;
+
+    pro(0) = b(0)/b(3);
+    pro(1) = b(1)/b(3);
+    pro(2) = b(2)/b(3);
+    pro(3) = b(3);
+}
+
+  void Progeo::setPosition (Eigen::Vector4d pos)
+  {
+    position = pos;
+  }
+
+  void Progeo::setKMatrix (Eigen::Matrix3d KMatrix)
+  {
+    K = KMatrix;
+    fdistx = K(0,0);
+    fdisty = K(1,1);
+    u0 = K(0,2);
+    v0 = K(1,2);
+  }
+
+  void Progeo::setRTMatrix (Eigen::Matrix4d RTMatrix)
+  {
+    RT = RTMatrix;
+  }
+  
+  void Progeo::setImageSize (int width, int height)
+  {
+    rows = height;
+    columns = width;
+  }
+
+  void Progeo::update_camera_matrix()
+  {}
+//{
+//  double rc11,rc12,rc13,rc21,rc22,rc23,rc31,rc32,rc33;
+//  double rab11,rab12,rab13,rab21,rab22,rab23,rab31,rab32,rab33;
+//  double r;
+//  /* a very small value but not infinite!! */
+//  double SMALL=0.0001;
+//  double t;
+//  double ux,uy,uz,vx,vy,vz,wx,wy,wz;
+
+//  camera->foa.H=1.;
+//  camera->position.H=1;
+
+//  /* Orientation model: focus of attention + roll */
+//  rab31=camera->foa.X-camera->position.X;
+//  rab32=camera->foa.Y-camera->position.Y;
+//  rab33=camera->foa.Z-camera->position.Z;
+//  r=(double)sqrt((double)(rab31*rab31+rab32*rab32+rab33*rab33));
+//  rab31=rab31/r; rab32=rab32/r; rab33=rab33/r;
+
+//  /* Second method:*/
+//  wx=rab31;
+//  wy=rab32;
+//  wz=rab33;
+//  t = atan2(-wx,wy);
+//  vx=(double)cos(t);
+//  vy=(double)sin(t);
+//  vz=0.;
+//  ux=vy*wz-wy*vz;
+//  uy=-vx*wz+wx*vz;
+//  uz=vx*wy-wx*vy;
+//  if (uz<0.)
+//    {vx=-vx; vy=-vy; vz=-vz;
+//      ux=-ux; uy=-uy; uz=-uz;}
+//  rab11=ux;
+//  rab12=uy;
+//  rab13=uz;
+//  rab21=vx;
+//  rab22=vy;
+//  rab23=vz;
+
+//  /* First method:
+//   * this was commented in the previous version. only else branch of this if was valid. test it!!*
+
+//  if ((rab31<SMALL) && (rab31>-SMALL) && (rab32<SMALL) && (rab32>-SMALL))
+//    * u3 = OZ or FA=camera position *
+//    {
+//      rab11=1.; rab12=0.; rab13=0.;
+//      rab21=0.; rab22=1.; rab23=0.;
+//      rab31=0.; rab32=0.; rab33=1.;
+//    }else{
+//    rab11=rab31*rab33; rab12=rab32*rab33; rab13=-rab31*rab31-rab32*rab32;
+//    r=(double)sqrt((double)(rab11*rab11+rab12*rab12+rab13*rab13));
+//    rab11=rab11/r; rab12=rab12/r; rab13=rab13/r;
+//    if (rab13<0.) {rab11=-rab11; rab12=-rab12; rab13=-rab13;}
+
+//    rab21=rab32*rab13-rab12*rab33; rab22=rab11*rab33-rab31*rab13; rab23=rab31*rab12-rab11*rab32;
+//    r=(double)sqrt((double)(rab21*rab21+rab22*rab22+rab23*rab23));
+//    rab21=rab21/r; rab22=rab22/r; rab23=rab23/r;
+//  }
+//  */
+
+//  rc11=cos(camera->roll); rc12=sin(camera->roll); rc13=0.;
+//  rc21=-sin(camera->roll); rc22=cos(camera->roll); rc23=0.;
+//  rc31=0.; rc32=0.; rc33=1.;
+
+//  camera->rt11=rc11*rab11+rc12*rab21+rc13*rab31;
+//  camera->rt12=rc11*rab12+rc12*rab22+rc13*rab32;
+//  camera->rt13=rc11*rab13+rc12*rab23+rc13*rab33;
+//  camera->rt21=rc21*rab11+rc22*rab21+rc23*rab31;
+//  camera->rt22=rc21*rab12+rc22*rab22+rc23*rab32;
+//  camera->rt23=rc21*rab13+rc22*rab23+rc23*rab33;
+//  camera->rt31=rc31*rab11+rc32*rab21+rc33*rab31;
+//  camera->rt32=rc31*rab12+rc32*rab22+rc33*rab32;
+//  camera->rt33=rc31*rab13+rc32*rab23+rc33*rab33;
+
+//  camera->rt14=-camera->position.X*camera->rt11-camera->position.Y*camera->rt12-camera->position.Z*camera->rt13;
+//  camera->rt24=-camera->position.X*camera->rt21-camera->position.Y*camera->rt22-camera->position.Z*camera->rt23;
+//  camera->rt34=-camera->position.X*camera->rt31-camera->position.Y*camera->rt32-camera->position.Z*camera->rt33;
+//  camera->rt41=0.;
+//  camera->rt42=0.;
+//  camera->rt43=0.;
+//  camera->rt44=1.;
+
+//  /* intrinsics parameters */
+//  camera->k11=camera->fdistx;  camera->k12=camera->skew*camera->fdisty; camera->k13=camera->u0; camera->k14=0.;
+//  camera->k21=0.; camera->k22=camera->fdisty;  camera->k23=camera->v0; camera->k24=0.;
+//  camera->k31=0.; camera->k32=0.; camera->k33=1.; camera->k34=0.;
+
+//  if (debug==1) printf("Camera %s Located at (%.f,%.f,%.f)\n",camera->name,camera->position.X,camera->position.Y,camera->position.Z);
+//  if (debug==1) printf("Camera %s Orientation: pointing towards FocusOfAtention (%.f,%.f,%.f), roll (%.f)\n",camera->name,camera->foa.X,camera->foa.Y,camera->foa.Z,camera->roll*360./(2*PI));
+//  if (debug==1) printf("Camera %s fx= %.5f fy= %.5f skew= %.5f y0=%d x0=%d\n",camera->name, camera->fdistx, camera->fdisty, camera->skew,(int)camera->v0,(int)camera->u0);
+//  if (debug==1) printf("Camera %s K matrix\n %.3f %.1f %.1f %.1f\n %.1f %.3f %.1f %.1f\n %.1f %.1f %.1f %.1f\n",camera->name,camera->k11,camera->k12,camera->k13,camera->k14,camera->k21,camera->k22,camera->k23,camera->k24,camera->k31,camera->k32,camera->k33,camera->k34);
+//  if (debug==1) printf("Camera %s RT matrix\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n %.1f %.1f %.1f %.1f\n",camera->name,camera->rt11,camera->rt12,camera->rt13,camera->rt14,camera->rt21,camera->rt22,camera->rt23,camera->rt24,camera->rt31,camera->rt32,camera->rt33,camera->rt34,camera->rt41,camera->rt42,camera->rt43,camera->rt44);
+//}
+}

Added: trunk/src/libs/geometry/progeo/progeo3.h
===================================================================
--- trunk/src/libs/geometry/progeo/progeo3.h	                        (rev 0)
+++ trunk/src/libs/geometry/progeo/progeo3.h	2013-08-02 08:41:48 UTC (rev 959)
@@ -0,0 +1,122 @@
+/*
+ *
+ *  Copyright (C) 1997-2013 JDERobot Developers Team
+ *
+ *  This program 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 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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 program.  If not, see http://www.gnu.org/licenses/. 
+ *
+ *  Authors : Alejandro Hernández <ahcorde [at] gmail [dot] com>
+ *            Roberto Calvo <rocapal [at] gsyc [dot] urjc [dot] es>
+ *            Eduardo Perdices <eperdices [at] gsyc [dot] es>
+ *
+ */
+
+#ifndef PROGEO3_H
+#define PROGEO3_H
+
+#define EIGEN_DONT_ALIGN_STATICALLY True
+
+#include <iostream>
+#include <eigen3/Eigen/Dense>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+
+/*xml*/
+#include <libxml/parser.h>
+#include <libxml/xmlreader.h>
+#include <libxml/xpath.h>
+#include <libxml/tree.h>
+
+#define PI 3.141592654
+#define BIGNUM 1.0e4
+
+/* geometric distances */
+#define DIST2D(p1,p2) sqrt((p1.x-p2.x)*(p1.x-p2.x)+(p1.y-p2.y)*(p1.y-p2.y))
+#define DIST3D(p1,p2) sqrt((p1.X-p2.X)*(p1.X-p2.X)+(p1.Y-p2.Y)*(p1.Y-p2.Y)+(p1.Z-p2.Z)*(p1.Z-p2.Z))
+
+namespace Progeo {
+
+class Progeo
+{
+
+public:
+
+    Progeo();
+    Progeo(std::string filename);
+
+    Progeo(Eigen::Vector4d posCamera,
+           Eigen::Matrix3d KMatrix,
+           Eigen::Matrix4d RTMatrix,
+           int width, int height);
+
+    void setPosition (Eigen::Vector4d pos);
+    void setKMatrix (Eigen::Matrix3d KMatrix);
+    void setRTMatrix (Eigen::Matrix4d RTMatrix);
+    void setImageSize (int width, int height);
+    
+    void display_camerainfo();
+    void backproject(Eigen::Vector3d, Eigen::Vector4d& pro);
+    int project(Eigen::Vector4d in, Eigen::Vector3d &out);
+    void update_camera_matrix();
+
+
+
+private:
+
+    /* camera 3d position in mm */
+    Eigen::Vector4d position;
+
+    /* camera 3d focus of attention in mm */
+    Eigen::Vector4d foa;
+
+    /* top right and bottom left points */
+    Eigen::Vector3d tr, bl;
+
+    /* camera roll position angle in rads */
+    float roll;
+
+    /* focus x distance in mm*/
+    float fdistx;
+    float fdisty;
+
+    /* pixels */
+    float u0,v0;
+
+    /*angle between the x and y pixel axes in rads*/
+    float skew
+
+    /* image height in pixels */;
+    int rows;
+
+    /* image width in pixels */
+    int columns;
+
+    /* camera K matrix */
+    float k11, k12, k13, k14, k21, k22, k23, k24, k31, k32, k33, k34;
+    Eigen::Matrix3d K;
+
+    /* camera rotation + translation matrix */
+    float rt11, rt12, rt13, rt14, rt21, rt22, rt23, rt24, rt31, rt32, rt33, rt34, rt41, rt42, rt43, rt44;
+    Eigen::Matrix4d RT;
+
+    /* distortion parameters */
+    float d1,d2,d3,d4,d5,d6;
+    float dx,dy;
+
+    /* name */
+    std::string name;
+};
+}
+
+#endif



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