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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor 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 Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XNV_REAL_WORLD_TRANSLATOR_H_
#define _XNV_REAL_WORLD_TRANSLATOR_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnVPoint.h"
#include "XnVStatus.h"
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
/**
* This algorithm translates points from projective to real world representation and vice versa.
*/
class XN_EE_CORE_API XnVRealWorldTranslator
{
public:
// Constructors
XnVRealWorldTranslator(XnDouble fZeroPlaneDistance, XnDouble fPixelSizeAtZeroPlane,
XnUInt16 nXRes, XnUInt16 nYRes,
XnUInt16 nXFullRes, XnUInt16 nYFullRes, XnUInt16 nXOffset, XnUInt16 nYOffset);
XnVRealWorldTranslator(XnDouble fZeroPlaneDistance, XnDouble fPixelSizeAtZeroPlane,
XnUInt16 nXRes, XnUInt16 nYRes);
// Initializers (or re-initializers)
/**
* Update internal values, relevant for translation purposes.
*
* @param [in] fZeroPlaneDistance The distance (in cm) where the reference was taken.
* @param [in] fPixelSizeAtZeroPlane The size of a pixel at the distance the reference was taken.
* @param [in] nXRes The maximum projective x value of the depth map.
* @param [in] nYRes The maximum projective y value of the depth map.
* @param [in] nXFullRes Future Use - the x-resolution of the depth map that created this one as a submap.
* @param [in] nYFullRes Future Use - the y-resolution of the depth map that created this one as a submap.
* @param [in] nXOffset Future Use - the x-offset of this depth map in the one that created it as a submap.
* @param [in] nYOffset Future Use - the y-offset of this depth map in the one that created it as a submap.
*/
XnStatus Update(XnDouble fZeroPlaneDistance, XnDouble fPixelSizeAtZeroPlane,
XnUInt16 nXRes, XnUInt16 nYRes,
XnUInt16 nXFullRes, XnUInt16 nYFullRes, XnUInt16 nXOffset, XnUInt16 nYOffset);
/**
* Update internal values, relevant for translation purposes.
*
* @param [in] fZeroPlaneDistance The distance (in cm) where the reference was taken.
* @param [in] fPixelSizeAtZeroPlane The size of a pixel at the distance the reference was taken.
* @param [in] nXRes The maximum projective x value of the depth map.
* @param [in] nYRes The maximum projective y value of the depth map.
*/
XnStatus Update(XnDouble fZeroPlaneDistance, XnDouble fPixelSizeAtZeroPlane,
XnUInt16 nXRes, XnUInt16 nYRes);
/**
* Translate point from Real World coordinates to Projective coordinates, rounding the result.
*
* @param [in,out] ptPoint A Real World point on input, Projective on output.
*/
void RW2Projective(XnVPoint& ptPoint) const;
/**
* Translate point from Real World coordinates to Projective coordinates.
*
* @param [in,out] ptPoint A Real World point on input, Projective on output.
*/
void RW2ProjectiveFloat(XnVPoint& ptPoint) const;
/**
* Translate point from Projective coordinates to Real World coordinates.
*
* @param [in,out] ptPoint A Projective point on input, Real World on output.
*/
void Projective2RW(XnVPoint& ptPoint) const;
protected:
XnStatus Init(XnDouble fZeroPlaneDistance, XnDouble fPixelSizeAtZeroPlane,
XnUInt16 nXRes, XnUInt16 nYRes,
XnUInt16 nXFullRes, XnUInt16 nYFullRes, XnUInt16 nXOffset, XnUInt16 nYOffset);
XnDouble m_fZeroPlaneDistance;
XnDouble m_fPixelSizeAtZeroPlane;
XnDouble m_fSourceToDepthPixelRatio;
XnUInt16 m_nXRes;
XnUInt16 m_nYRes;
XnUInt16 m_nXFullRes, m_nYFullRes;
XnUInt16 m_nXOffset, m_nYOffset;
};
#endif //_XNV_REAL_WORLD_TRANSLATOR_H_
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