camera.h

机器人程序

// Camera.h - by Robin Hewitt, 2005-2005
// The initial version of this class was kindly
// contributed by Ed LeBouthillier, 2004
// http://home.earthlink.net/~apendragn
// This is free software. See license at the bottom
// of this file for terms of use.
//

//////////////////////////////////////////////////////////////
// Header for the Camera class
//
// Contains camera parameters such as tilt angle and focal length.
//
// Todo: There's a method called Camera::screen2world() that returns a
// WorldCoord class given an (x,y) image coordinate. This is a misleading
// name. The method assumes the object is on the floor. Otherwise, it would
// only be able to constrain it to be on a line. We put this into the initial
// version because we were getting ready to enter a contest and needed to
// locate homebase. It needs to be changed.


#ifndef __MAVIS_CAMERA_CAMERA
#define __MAVIS_CAMERA_CAMERA

#include "WorldCoord.h"
#include "Mavis.h"

// when computing a world coordinate or a scale factor from a pixel value,
// an additional constraint is needed.
enum LocConstraint_t {
	HEIGHT_CONSTRAINT,       // distance above floor in mm
	FWD_DISTANCE_CONSTRAINT  // distance along travel path, from robot's center
};


class Mavis;
class Pixel;

class Camera
{
public:
	double getFocalLen() { return f; }
	void   setFocalLen(double f);

	double getTiltAngle()  { return tiltAngle; }
	void   setTiltAngle(double theta);

	int  getIsCalibrated()  { return isCalibrated; }
	void setIsCalibrated(int newValue=1);

	// Computes a scale factor, f/Z (pixels/mm), at a pixel, given a location
	// constraint. If the scaling can't be computed, it returns false;
	bool getScale(
		Pixel_t *,
		double constraint,
		LocConstraint_t,
		double * pScale);

	// Retrieves camera configuration data
	void getCameraData(CameraData_t *);

	// Convert a Coordinate in screen coordinates to world coordinates
	WorldCoord screen2world(int x, int y);

protected:
	friend class Mavis;

	// Constructor and Destructor
	Camera(Mavis * pMavis);
	~Camera();

private:
	double camera_X;     // Left/Right position of camera from origin (mm)
	double fwdPosition;  // forward/reverse position of camera from origin (mm)
	double height;       // height of camera above ground (mm)

	double f;            // focal length (pixels)
	int    isCalibrated;

	double imgHeight;
	double imgWidth;
	double halfImgHeight;  // 1/2 the image height
	double halfImgWidth;   // 1/2 the image width

	double tiltAngle;      // Camera's tilt angle. Positive is looking up up.
	double sinTiltAngle;
	double cosTiltAngle;

	Mavis * pMavis;
};

#endif

///////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this
// license. If you do not agree to this license, do not download, install, copy or
// use the software.
//
//
//                        Mavis License Agreement
//
// Copyright (c) 2004, Ed LeBouthillier (http://home.earthlink.net/~apendragn)
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
// This software is provided "as is" and any express or implied warranties, including,
// but not limited to, the implied warranties of merchantability and fitness for a
// particular purpose are disclaimed. In no event shall the authors or contributors be
// liable for any direct, indirect, incidental, special, exemplary, or consequential
// damages (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused and on any
// theory of liability, whether in contract, strict liability, or tort (including
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// if advised of the possibility of such damage.
///////////////////////////////////////////////////////////////////////////////////////