ice_conversions.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::ArmarXObjects::armem_images
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ice_conversions.h"
 
#include <ArmarXCore/core/eigen/ice_conversions.h>
#include <ArmarXCore/core/ice_conversions.h>
 
namespace visionx::armem::camera
{
    void
    fromIce(visionx::arondto::CameraParameters& aron, const visionx::CameraParameters& ice)
    {
        // TODO: What if other calib than IVT? (e.g. OpenCV uses 6 radial and 2 tangential distortions)
 
        aron.width = ice.width;
        aron.height = ice.height;
        ARMARX_CHECK(ice.distortion.size() ==
                     4); // Camera calibration from IVT = {radial d1 + d2, tangential d3 + d4}
        aron.radialDistortion = std::vector<float>{ice.distortion[0], ice.distortion[1]};
        aron.tangentialDistortion = std::vector<float>{ice.distortion[2], ice.distortion[3]};
        armarx::core::eigen::fromIce(aron.focalLength, ice.focalLength);
        armarx::core::eigen::fromIce(aron.principalPoint, ice.principalPoint);
        armarx::core::eigen::fromIce(aron.translation, ice.translation);
        armarx::core::eigen::fromIce(aron.rotation, ice.rotation);
    }
 
    void
    toIce(const visionx::arondto::CameraParameters& aron, visionx::CameraParameters& ice)
    {
        // TODO: What if other calib than IVT? (e.g. OpenCV uses 6 radial and 2 tangential distortions)
 
        ice.width = aron.width;
        ice.height = aron.height;
        ice.distortion = std::vector<float>{aron.radialDistortion[0],
                                            aron.radialDistortion[1],
                                            aron.tangentialDistortion[0],
                                            aron.tangentialDistortion[1]};
        armarx::core::eigen::toIce(aron.focalLength, ice.focalLength);
        armarx::core::eigen::toIce(aron.principalPoint, ice.principalPoint);
        armarx::core::eigen::toIce(aron.translation, ice.translation);
        armarx::core::eigen::toIce(aron.rotation, ice.rotation);
    }
 
    void
    fromIce(visionx::arondto::MonocularCameraCalibration& aron,
            const visionx::MonocularCalibration& ice)
    {
        fromIce(aron.cameraParam, ice.cameraParam);
    }
 
    void
    toIce(const visionx::arondto::MonocularCameraCalibration& aron,
          visionx::MonocularCalibration& ice)
    {
        toIce(aron.cameraParam, ice.cameraParam);
    }
 
    void
    fromIce(visionx::arondto::StereoCameraCalibration& aron, const visionx::StereoCalibration& ice)
    {
        fromIce(aron.calibrationLeft, ice.calibrationLeft);
        fromIce(aron.calibrationRight, ice.calibrationRight);
        armarx::core::eigen::fromIce(aron.rectificationHomographyLeft,
                                     ice.rectificationHomographyLeft);
        armarx::core::eigen::fromIce(aron.rectificationHomographyRight,
                                     ice.rectificationHomographyRight);
    }
 
    void
    toIce(const visionx::arondto::StereoCameraCalibration& aron, visionx::StereoCalibration& ice)
    {
        toIce(aron.calibrationLeft, ice.calibrationLeft);
        toIce(aron.calibrationRight, ice.calibrationRight);
        armarx::core::eigen::toIce(aron.rectificationHomographyLeft,
                                   ice.rectificationHomographyLeft);
        armarx::core::eigen::toIce(aron.rectificationHomographyRight,
                                   ice.rectificationHomographyRight);
    }
} // namespace visionx::armem::camera