Changeset 68 in pacpussensors

Timestamp:

Oct 8, 2014, 3:02:31 PM (10 years ago)

Author:

phudelai

Message:

New function

Location:

trunk

Files:

• CMakeLists.txt (modified) (1 diff)
• PtGreyCameras/Flea3Grabber.cpp (modified) (1 diff)
• StereoVisionDisparity/ObstacleDetectionComponent.cpp (modified) (2 diffs)
• StereoVisionDisparity/ObstacleDetectionComponent.h (modified) (2 diffs)

trunk/CMakeLists.txt

@@ -85 +85 @@
 # add_subdirectory(Alasca)
 #add_subdirectory(CanGateway)
-#add_subdirectory(PtGreyCameras)
+add_subdirectory(PtGreyCameras)
 # add_subdirectory(Dualshock)
-add_subdirectory(PacpusSocket)
+# add_subdirectory(PacpusSocket)
 # add_subdirectory(Sick)
-#add_subdirectory(StereoVisionDisparity)
+add_subdirectory(StereoVisionDisparity)
 #add_subdirectory(SensorsApplication)
 # add_subdirectory(StdDbtPlayerComponents)
 # add_subdirectory(Wifibot)
-add_subdirectory(Gps)
+#add_subdirectory(Gps)
 #add_subdirectory(SpanCPTComponent)
-add_subdirectory(NMEA0183)
-add_subdirectory(OpencvVideo)
+#add_subdirectory(NMEA0183)
+#add_subdirectory(OpencvVideo)
 
 # ========================================

trunk/PtGreyCameras/Flea3Grabber.cpp

@@ -168 +168 @@
                 this->nbrCamera_ = config.getProperty("number_of_cameras").toInt();
 
-        if (config.getProperty("master_indice") != QString::null)
+        if (config.getProperty("master_indice") != QString::null) // Master camera number
                 this->masterCamera_ = config.getProperty("master_indice").toInt();
 

trunk/StereoVisionDisparity/ObstacleDetectionComponent.cpp

@@ -273 +273 @@
         if (config.getProperty("cam_channels") != QString::null)
                 this->cam_channels = config.getProperty("cam_channels").toInt();
+
+        if (config.getProperty("cam_ref_cx") != QString::null)
+                this->cam_ref_cx = config.getProperty("cam_ref_cx").toDouble(); // cx camera divide by x image size
+
+        if (config.getProperty("cam_ref_cy") != QString::null)
+                this->cam_ref_cy = config.getProperty("cam_ref_cy").toDouble(); // cy camera divide by y image size
+
+        if (config.getProperty("cam_ref_fx") != QString::null)
+                this->cam_ref_fx = config.getProperty("cam_ref_fx").toDouble(); // fx camera divide by x image size
+
+        if (config.getProperty("cam_ref_fy") != QString::null)
+                this->cam_ref_fy = config.getProperty("cam_ref_fy").toDouble(); // fy camera divide by y image size
+
+        if (config.getProperty("cam_baseline") != QString::null)
+                this->cam_baseline = config.getProperty("cam_baseline").toDouble(); // distance between two cameras in meter
 
         if (config.getProperty("min_disp") != QString::null)
@@ -631 +646 @@
 x,y,z = world coordinates
 disparity = disparity value
-
+*/
 bool ObstacleDetectionComponent::PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity)
 {
-                bool valid_point = false;
-
         if(disparity > 0.0 && disparity < 255.0)
         {
-                z = this->cam_width * this->cam_fx * this->cam_baseline / disparity;
-                double u = col / (this->cam_width - 1.0) - this->cam_cx;
-                double v = row / (this->cam_height - 1.0) - this->cam_cy;
-
-                x = u * z / this->cam_fx;
-
-                y = v * z / this->cam_fy;
-
-                valid_point = true;
-        }
-
-        return valid_point;
-}*/
+                z = this->cam_width * this->cam_ref_fx * this->cam_baseline / disparity;
+                double u = col / (this->cam_width - 1) - this->cam_ref_cx;
+                double v = row / (this->cam_height - 1) - this->cam_ref_cy;
+
+                x = u * z / this->cam_ref_fx;
+                y = v * z / this->cam_ref_fy;
+
+                return true;
+        }
+
+        return false;
+}//*/
 
 

trunk/StereoVisionDisparity/ObstacleDetectionComponent.h

@@ -74 +74 @@
         double cam_ref_fx;              // fx camera divide by x image size
         double cam_ref_fy;              // fy camera divide by y image size
+        double cam_baseline;    // distance between two cameras in meter
         bool showdebug;                 // Show frame acquired
         int min_disp;                   // Minimum disparity value to detect obstacles in the u/v-disp map
@@ -194 +195 @@
         A CalcMedian(std::vector<A> vetor) const;
 
-        //bool PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity);
+        bool PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity);
 };