[Jderobot-admin] jderobot-r1032 - trunk/src/stable/components/openniServer

[frivas en jderobot.org]

Author: frivas
Date: 2013-10-10 16:10:37 +0200 (Thu, 10 Oct 2013)
New Revision: 1032

Modified:
   trunk/src/stable/components/openniServer/myprogeo.cpp
   trunk/src/stable/components/openniServer/myprogeo.h
Log:
#66 solved issued with resolutions


Modified: trunk/src/stable/components/openniServer/myprogeo.cpp
===================================================================
--- trunk/src/stable/components/openniServer/myprogeo.cpp	2013-10-10 13:57:26 UTC (rev 1031)
+++ trunk/src/stable/components/openniServer/myprogeo.cpp	2013-10-10 14:10:37 UTC (rev 1032)
@@ -154,14 +154,18 @@
         std::cout << w << ", " << h << std::endl;
         this->cameras[cam].fdistx=515;
         this->cameras[cam].fdisty=515;
-        this->cameras[cam].u0=h/2;
-        this->cameras[cam].v0=w/2;
+        this->cameras[cam].v0=h/2;
+        this->cameras[cam].u0=w/2;
         this->cameras[cam].position.X=0;
         this->cameras[cam].position.Y=0;
         this->cameras[cam].position.Z=0;
         this->cameras[cam].foa.X=0;
         this->cameras[cam].foa.Y=1;
         this->cameras[cam].foa.Z=0;
+		this->cameras[cam].columns=w;
+		this->cameras[cam].rows=h;
+		this->w=w;
+		this->h=h;
         update_camera_matrix(&cameras[cam]);
 
 
@@ -185,7 +189,24 @@
     display_camerainfo(cameras[cam]);
 }
 
+void myprogeo::pixel2optical(float*x,float*y){
+	int localX=*x;
+	int localY=*y;
 
+	*x= this->h-1-localY;
+	*y= localX;
+}
+
+void myprogeo::optical2pixel(float*x,float*y){
+
+	int localX=*x;
+	int localY=*y;
+
+	*x= localY;
+	*y= this->h-1-localX;
+}
+
+
 void
 myprogeo::mybackproject(float x, float y, float* xp, float* yp, float* zp, float* camx, float* camy, float* camz, int cam) {
     HPoint2D p;
@@ -194,8 +215,9 @@
 
 
 
-    p.x=GRAPHIC_TO_OPTICAL_X(x,y);
-    p.y=GRAPHIC_TO_OPTICAL_Y(x,y);
+    pixel2optical(&x, &y);
+	p.x=x;
+	p.y=y;
     p.h=1;
     backproject(&pro,p,cameras[cam]);
     *xp=pro.X;

Modified: trunk/src/stable/components/openniServer/myprogeo.h
===================================================================
--- trunk/src/stable/components/openniServer/myprogeo.h	2013-10-10 13:57:26 UTC (rev 1031)
+++ trunk/src/stable/components/openniServer/myprogeo.h	2013-10-10 14:10:37 UTC (rev 1032)
@@ -29,12 +29,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 
-/* GRAPHIC coordenates to OPTICAL coordenates */
-#define WORKING_IMG_HEIGHT 480
-#define GRAPHIC_TO_OPTICAL_X(x,y) (WORKING_IMG_HEIGHT-1-y)
-#define GRAPHIC_TO_OPTICAL_Y(x,y) (x)
-#define OPTICAL_TO_GRAPHIC_X(x,y) (y)
-#define OPTICAL_TO_GRAPHIC_Y(x,y) (WORKING_IMG_HEIGHT-1-x)
 
 #define MAX_CAMERAS 8
 #define MAX_BUFFER 1024
@@ -55,7 +49,10 @@
 
 private:
     /* cameras */
+	void pixel2optical(float*x,float*y);
+	void optical2pixel(float* x, float* y); 
     TPinHoleCamera cameras[MAX_CAMERAS];
+	int w,h;
 };
 } // namespace