TCamera.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "img-precomp.h"  // Precompiled headers
 
#include <mrpt/img/TCamera.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/math/matrix_serialization.h>  // For "<<" ">>" operators.
#include <mrpt/math/utils_matlab.h>
 
using namespace mrpt::img;
using namespace mrpt::math;
using namespace std;
 
/* Implements serialization for the TCamera struct as it will be included within
 * CObservations objects */
IMPLEMENTS_SERIALIZABLE(TCamera, CSerializable, mrpt::img)
 
/** Dumps all the parameters as a multi-line string, with the same format than
 * \a saveToConfigFile.  \sa saveToConfigFile */
std::string TCamera::dumpAsText() const
{
        mrpt::config::CConfigFileMemory cfg;
        saveToConfigFile("", cfg);
        return cfg.getContent();
}
 
uint8_t TCamera::serializeGetVersion() const { return 2; }
void TCamera::serializeTo(mrpt::serialization::CArchive& out) const
{
        out << focalLengthMeters;
        for (unsigned int k = 0; k < 5; k++) out << dist[k];
        out << intrinsicParams;
        // version 0 did serialize here a "CMatrixDouble15"
        out << nrows << ncols;  // New in v2
}
void TCamera::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        in >> focalLengthMeters;
 
                        for (unsigned int k = 0; k < 5; k++) in >> dist[k];
 
                        in >> intrinsicParams;
 
                        if (version == 0)
                        {
                                CMatrixDouble15 __distortionParams;
                                in >> __distortionParams;
                        }
 
                        if (version >= 2)
                                in >> nrows >> ncols;
                        else
                        {
                                nrows = 480;
                                ncols = 640;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        }
}
 
/*---------------------------------------------------------------
  Implements the writing to a mxArray for Matlab
 ---------------------------------------------------------------*/
#if MRPT_HAS_MATLAB
// Add to implement mexplus::from template specialization
IMPLEMENTS_MEXPLUS_FROM(mrpt::img::TCamera)
#endif
 
mxArray* TCamera::writeToMatlab() const
{
#if MRPT_HAS_MATLAB
        const char* fields[] = {"K", "dist", "f", "ncols", "nrows"};
        mexplus::MxArray params_struct(
                mexplus::MxArray::Struct(sizeof(fields) / sizeof(fields[0]), fields));
        params_struct.set("K", mrpt::math::convertToMatlab(this->intrinsicParams));
        params_struct.set("dist", mrpt::math::convertToMatlab(this->dist));
        params_struct.set("f", this->focalLengthMeters);
        params_struct.set("ncols", this->ncols);
        params_struct.set("nrows", this->nrows);
        return params_struct.release();
#else
        THROW_EXCEPTION("MRPT built without MATLAB/Mex support");
#endif
}
 
/**  Save as a config block:
 *  \code
 *  [SECTION]
 *  resolution = NCOLS NROWS
 *  cx         = CX
 *  cy         = CY
 *  fx         = FX
 *  fy         = FY
 *  dist       = K1 K2 T1 T2 T3
 *  focal_length = FOCAL_LENGTH
 *  \endcode
 */
void TCamera::saveToConfigFile(
        const std::string& section, mrpt::config::CConfigFileBase& cfg) const
{
        cfg.write(
                section, "resolution",
                format("[%u %u]", (unsigned int)ncols, (unsigned int)nrows));
        cfg.write(section, "cx", format("%.05f", cx()));
        cfg.write(section, "cy", format("%.05f", cy()));
        cfg.write(section, "fx", format("%.05f", fx()));
        cfg.write(section, "fy", format("%.05f", fy()));
        cfg.write(
                section, "dist",
                format(
                        "[%e %e %e %e %e]", dist[0], dist[1], dist[2], dist[3], dist[4]));
        if (focalLengthMeters != 0)
                cfg.write(section, "focal_length", focalLengthMeters);
}
 
/**  Load all the params from a config source, in the format described in
 * saveToConfigFile()
 */
void TCamera::loadFromConfigFile(
        const std::string& section, const mrpt::config::CConfigFileBase& cfg)
{
        vector<uint64_t> out_res;
        cfg.read_vector(section, "resolution", vector<uint64_t>(), out_res, true);
        if (out_res.size() != 2)
                THROW_EXCEPTION("Expected 2-length vector in field 'resolution'");
        ncols = out_res[0];
        nrows = out_res[1];
 
        double fx, fy, cx, cy;
        fx = cfg.read_double(section, "fx", 0, true);
        fy = cfg.read_double(section, "fy", 0, true);
        cx = cfg.read_double(section, "cx", 0, true);
        cy = cfg.read_double(section, "cy", 0, true);
 
        if (fx < 2.0) fx *= ncols;
        if (fy < 2.0) fy *= nrows;
        if (cx < 2.0) cx *= ncols;
        if (cy < 2.0) cy *= nrows;
 
        setIntrinsicParamsFromValues(fx, fy, cx, cy);
 
        CVectorDouble dists;
        cfg.read_vector(section, "dist", CVectorDouble(), dists, true);
        if (dists.size() != 4 && dists.size() != 5)
                THROW_EXCEPTION("Expected 4 or 5-length vector in field 'dist'");
 
        dist.fill(0);
        for (CVectorDouble::Index i = 0; i < dists.size(); i++) dist[i] = dists[i];
 
        focalLengthMeters =
                cfg.read_double(section, "focal_length", 0, false /* optional value */);
}
 
/** Rescale all the parameters for a new camera resolution (it raises an
 * exception if the aspect ratio is modified, which is not permitted).
 */
void TCamera::scaleToResolution(unsigned int new_ncols, unsigned int new_nrows)
{
        if (ncols == new_ncols && nrows == new_nrows) return;  // already done
 
        ASSERT_(new_nrows > 0 && new_ncols > 0);
 
        const double prev_aspect_ratio = ncols / double(nrows);
        const double new_aspect_ratio = new_ncols / double(new_nrows);
 
        ASSERTMSG_(
                std::abs(prev_aspect_ratio - new_aspect_ratio) < 1e-3,
                "TCamera: Trying to scale camera parameters for a resolution of "
                "different aspect ratio.");
 
        const double K = new_ncols / double(ncols);
 
        ncols = new_ncols;
        nrows = new_nrows;
 
        // fx fy cx cy
        intrinsicParams(0, 0) *= K;
        intrinsicParams(1, 1) *= K;
        intrinsicParams(0, 2) *= K;
        intrinsicParams(1, 2) *= K;
 
        // distortion params: unmodified.
}
 
bool mrpt::img::operator==(
        const mrpt::img::TCamera& a, const mrpt::img::TCamera& b)
{
        return a.ncols == b.ncols && a.nrows == b.nrows &&
                   a.intrinsicParams == b.intrinsicParams && a.dist == b.dist &&
                   a.focalLengthMeters == b.focalLengthMeters;
}
bool mrpt::img::operator!=(
        const mrpt::img::TCamera& a, const mrpt::img::TCamera& b)
{
        return !(a == b);
}