calibration.cc

不错的shijuegezong的程序

////////////////////////////////////////////////////////////////////////////////
//                                                                            //
//  Calibration.cc                                                            //
//                                                                            //
//  This class reads a calibration (4x3 projection) matrix from file and      //
//    provides methods to use this calibration data for image measurements    //
//                                                                            //
//  The matrix file must be in NAG format.  Its image addressing mode is      //
//    determined with a simple test.                                          //
//                                                                            //
//  Author    : R閙i Belin (rb)  supervised by  Nils T Siebel (nts)           //
//  Created   : Wed Jul 18 13:50:21 BST 2001                                  //
//  Revision  : 1.0 of Tue Jul 31 12:21:08 BST 2001                           //
//  Copyright : The University of Reading                                     //
//                                                                            //
////////////////////////////////////////////////////////////////////////////////

#include <cmath>          // for fmax()
#include <string.h>       // for strcmp()
#include <cassert>

#include <fstream>

#include "Calibration.h"
#include "text_output.h"

namespace ReadingPeopleTracker
{

static const char *Calibration_Revision = "@(#) Calibration.cc, rev 1.0 of Tue Jul 31 12:21:08 BST 2001, Authors R閙i Belin and Nils T Siebel, Copyright (c) 2000--2001 The University of Reading";

Calibration::Calibration(char *filename,
			 unsigned int the_image_height)
{
    assert(the_image_height > 0);
    
    if ((filename == NULL) || (strlen(filename) == 0))
    {
	cerror << "Calibration::Calibration(): Error:"
	       << " No or empty calibration file name given. " << endl;
	exit(1);
    }
    
    WorldToImage = new NagMatrix(3,4);
    get_matrix_from_file(filename);
    image_height = the_image_height;
    
    // determine the matrix's image addressing mode
    
    // first get a world point in the centre of the image
    NagVector image_centre(3);
    
    image_centre[0] = (4/3) * the_image_height / 2;
    image_centre[1] = the_image_height / 2;
    image_centre[2] = 1;
    
    NagVector lower_wp(4);
    
    lower_wp = get_world_from_ip(image_centre, 0);  
    
    // now test whether a point higher up in world is higher up in the image
    NagVector upper_wp(4);
    upper_wp = lower_wp;
    upper_wp[2] += 100;  // FIXME: assuming 100 world units (e.g. cm) is reasonable
    
    NagVector lower_ip(3);
    NagVector upper_ip(3);
    
    // before calling get_ip_from_world, set matrix_image_addressing_mode temporarily
    // in a way that disables the correction of v components in that method
    matrix_image_addressing_mode = Image::image_addressing_mode;
    lower_ip = get_ip_from_world(lower_wp);
    upper_ip = get_ip_from_world(upper_wp);
    
    // simple comparison of v coordinates to see which one is larger
    if (lower_ip[1] > upper_ip[1])
    {
	matrix_image_addressing_mode = IA_TOP_TO_BOTTOM;	
	cdebug << " Calibration::Calibration: detected TOP_TO_BOTTOM calibration matrix. "
	       << endl;
    }
    else
    {
	matrix_image_addressing_mode = IA_BOTTOM_TO_TOP;
	cdebug << " Calibration::Calibration: detected BOTTOM_TO_TOP calibration matrix. "
	       << endl;
    }
    
}

void Calibration::get_matrix_from_file(char *filename)
{
    ifstream ifs(filename);
    if (ifs.bad())
    {
	cerror << "Calibration::get_matrix_from_file(): Warning:"
	       << " Cannot open calibration file.