/// <summary>
/// calculate the position of the robots head and cameras for this pose
/// </summary>
/// <param name="rob">robot object</param>
/// <param name="head_location">location of the centre of the head</param>
/// <param name="camera_centre_location">location of the centre of each stereo camera</param>
/// <param name="left_camera_location">location of the left camera within each stereo camera</param>
/// <param name="right_camera_location">location of the right camera within each stereo camera</param>
protected void calculateCameraPositions(
robot rob,
ref pos3D head_location,
ref pos3D[] camera_centre_location,
ref pos3D[] left_camera_location,
ref pos3D[] right_camera_location)
{
// calculate the position of the centre of the head relative to
// the centre of rotation of the robots body
pos3D head_centroid = new pos3D(-(rob.BodyWidth_mm / 2) + rob.head.x,
-(rob.BodyLength_mm / 2) + rob.head.y,
rob.head.z);
// location of the centre of the head on the grid map
// adjusted for the robot pose and the head pan and tilt angle.
// Note that the positions and orientations of individual cameras
// on the head have already been accounted for within stereoModel.createObservation
pos3D head_locn = head_centroid.rotate(rob.head.pan + pan, rob.head.tilt, 0);
head_locn = head_locn.translate(x, y, 0);
head_location.copyFrom(head_locn);
for (int cam = 0; cam < rob.head.no_of_stereo_cameras; cam++)
{
// calculate the position of the centre of the stereo camera
// (baseline centre point)
pos3D camera_centre_locn = new pos3D(rob.head.calibration[cam].positionOrientation.x, rob.head.calibration[cam].positionOrientation.y, rob.head.calibration[cam].positionOrientation.y);
camera_centre_locn = camera_centre_locn.rotate(rob.head.calibration[cam].positionOrientation.pan + rob.head.pan + pan, rob.head.calibration[cam].positionOrientation.tilt, rob.head.calibration[cam].positionOrientation.roll);
camera_centre_location[cam] = camera_centre_locn.translate(head_location.x, head_location.y, head_location.z);
// where are the left and right cameras?
// we need to know this for the origins of the vacancy models
float half_baseline_length = rob.head.calibration[cam].baseline / 2;
pos3D left_camera_locn = new pos3D(-half_baseline_length, 0, 0);
left_camera_locn = left_camera_locn.rotate(rob.head.calibration[cam].positionOrientation.pan + rob.head.pan + pan, rob.head.calibration[cam].positionOrientation.tilt, rob.head.calibration[cam].positionOrientation.roll);
pos3D right_camera_locn = new pos3D(-left_camera_locn.x, -left_camera_locn.y, -left_camera_locn.z);
left_camera_location[cam] = left_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam] = right_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam].pan = left_camera_location[cam].pan;
}
}
/// <summary>
/// Calculate the position of the robots head and cameras for this pose
/// the positions returned are relative to the robots centre of rotation
/// </summary>
/// <param name="body_width_mm">width of the robot body in millimetres</param>
/// <param name="body_length_mm">length of the robot body in millimetres</param>
/// <param name="body_centre_of_rotation_x">x centre of rotation of the robot, relative to the top left corner</param>
/// <param name="body_centre_of_rotation_y">y centre of rotation of the robot, relative to the top left corner</param>
/// <param name="body_centre_of_rotation_z">z centre of rotation of the robot, relative to the top left corner</param>
/// <param name="head_centroid_x">head centroid x position in millimetres relative to the top left corner of the body</param>
/// <param name="head_centroid_y">head centroid y position in millimetres relative to the top left corner of the body</param>
/// <param name="head_centroid_z">head centroid z position in millimetres relative to the top left corner of the body</param>
/// <param name="head_pan">head pan angle in radians</param>
/// <param name="head_tilt">head tilt angle in radians</param>
/// <param name="head_roll">head roll angle in radians</param>
/// <param name="baseline_mm">stereo camera baseline in millimetres</param>
/// <param name="stereo_camera_position_x">stereo camera x position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_position_y">stereo camera y position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_position_z">stereo camera z position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_pan">stereo camera pan in radians relative to the head</param>
/// <param name="stereo_camera_tilt">stereo camera tilt in radians relative to the head</param>
/// <param name="stereo_camera_roll">stereo camera roll in radians relative to the head</param>
/// <param name="head_location">returned location/orientation of the robot head</param>
/// <param name="camera_centre_location">returned stereo camera centre position/orientation</param>
/// <param name="left_camera_location">returned left camera position/orientation</param>
/// <param name="right_camera_location">returned right camera position/orientation</param>
public static void calculateCameraPositions(
float body_width_mm,
float body_length_mm,
float body_centre_of_rotation_x,
float body_centre_of_rotation_y,
float body_centre_of_rotation_z,
float head_centroid_x,
float head_centroid_y,
float head_centroid_z,
float head_pan,
float head_tilt,
float head_roll,
float baseline_mm,
float stereo_camera_position_x,
float stereo_camera_position_y,
float stereo_camera_position_z,
float stereo_camera_pan,
float stereo_camera_tilt,
float stereo_camera_roll,
ref pos3D head_location,
ref pos3D camera_centre_location,
ref pos3D left_camera_location,
ref pos3D right_camera_location)
{
// calculate the position of the centre of the head relative to
// the centre of rotation of the robots body
pos3D head_centroid =
new pos3D(
-(body_width_mm * 0.5f) + (body_centre_of_rotation_x - (body_width_mm * 0.5f)) + head_centroid_x,
-(body_length_mm * 0.5f) + (body_centre_of_rotation_y - (body_length_mm * 0.5f)) + head_centroid_y,
head_centroid_z);
// location of the centre of the head
// adjusted for the robot pose and the head pan and tilt angle.
// Note that the positions and orientations of individual cameras
// on the head have already been accounted for within stereoModel.createObservation
pos3D head_locn =
head_centroid.rotate(
head_pan, head_tilt, 0);
head_location.copyFrom(head_locn);
// calculate the position of the centre of the stereo camera
// (baseline centre point)
pos3D camera_centre_locn =
new pos3D(
stereo_camera_position_x,
stereo_camera_position_y,
stereo_camera_position_z);
// rotate the stereo camera
camera_centre_locn =
camera_centre_locn.rotate(
stereo_camera_pan + head_pan,
stereo_camera_tilt + head_tilt,
stereo_camera_roll + head_roll);
// move the stereo camera relative to the head position
camera_centre_location =
camera_centre_locn.translate(
head_location.x,
head_location.y,
head_location.z);
// where are the left and right cameras?
// we need to know this for the origins of the vacancy models
float half_baseline_length = baseline_mm * 0.5f;
pos3D left_camera_locn = new pos3D(-half_baseline_length, 0, 0);
left_camera_locn = left_camera_locn.rotate(stereo_camera_pan + head_pan, stereo_camera_tilt + head_tilt, stereo_camera_roll + head_roll);
pos3D right_camera_locn = new pos3D(-left_camera_locn.x, -left_camera_locn.y, -left_camera_locn.z);
left_camera_location = left_camera_locn.translate(camera_centre_location.x, camera_centre_location.y, camera_centre_location.z);
right_camera_location = right_camera_locn.translate(camera_centre_location.x, camera_centre_location.y, camera_centre_location.z);
right_camera_location.pan = left_camera_location.pan;
}
/// <summary>
/// calculate the position of the robots head and cameras for this pose
/// </summary>
/// <param name="rob">robot object</param>
/// <param name="head_location">location of the centre of the head</param>
/// <param name="camera_centre_location">location of the centre of each stereo camera</param>
/// <param name="left_camera_location">location of the left camera within each stereo camera</param>
/// <param name="right_camera_location">location of the right camera within each stereo camera</param>
protected void calculateCameraPositions(
robot rob,
ref pos3D head_location,
ref pos3D[] camera_centre_location,
ref pos3D[] left_camera_location,
ref pos3D[] right_camera_location)
{
// calculate the position of the centre of the head relative to
// the centre of rotation of the robots body
pos3D head_centroid = new pos3D(-(rob.BodyWidth_mm / 2) + rob.head.x,
-(rob.BodyLength_mm / 2) + rob.head.y,
rob.head.z);
// location of the centre of the head on the grid map
// adjusted for the robot pose and the head pan and tilt angle.
// Note that the positions and orientations of individual cameras
// on the head have already been accounted for within stereoModel.createObservation
pos3D head_locn = head_centroid.rotate(rob.head.pan + pan, rob.head.tilt, 0);
head_locn = head_locn.translate(x, y, 0);
head_location.copyFrom(head_locn);
for (int cam = 0; cam < rob.head.no_of_stereo_cameras; cam++)
{
// calculate the position of the centre of the stereo camera
// (baseline centre point)
pos3D camera_centre_locn = new pos3D(rob.head.calibration[cam].positionOrientation.x, rob.head.calibration[cam].positionOrientation.y, rob.head.calibration[cam].positionOrientation.y);
camera_centre_locn = camera_centre_locn.rotate(rob.head.calibration[cam].positionOrientation.pan + rob.head.pan + pan, rob.head.calibration[cam].positionOrientation.tilt, rob.head.calibration[cam].positionOrientation.roll);
camera_centre_location[cam] = camera_centre_locn.translate(head_location.x, head_location.y, head_location.z);
// where are the left and right cameras?
// we need to know this for the origins of the vacancy models
float half_baseline_length = rob.head.calibration[cam].baseline / 2;
pos3D left_camera_locn = new pos3D(-half_baseline_length, 0, 0);
left_camera_locn = left_camera_locn.rotate(rob.head.calibration[cam].positionOrientation.pan + rob.head.pan + pan, rob.head.calibration[cam].positionOrientation.tilt, rob.head.calibration[cam].positionOrientation.roll);
pos3D right_camera_locn = new pos3D(-left_camera_locn.x, -left_camera_locn.y, -left_camera_locn.z);
left_camera_location[cam] = left_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam] = right_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam].pan = left_camera_location[cam].pan;
}
}
/// <summary>
/// Calculate the position of the robots head and cameras for this pose
/// the positions returned are relative to the robots centre of rotation
/// </summary>
/// <param name="body_width_mm">width of the robot body in millimetres</param>
/// <param name="body_length_mm">length of the robot body in millimetres</param>
/// <param name="body_centre_of_rotation_x">x centre of rotation of the robot, relative to the top left corner</param>
/// <param name="body_centre_of_rotation_y">y centre of rotation of the robot, relative to the top left corner</param>
/// <param name="body_centre_of_rotation_z">z centre of rotation of the robot, relative to the top left corner</param>
/// <param name="head_centroid_x">head centroid x position in millimetres relative to the top left corner of the body</param>
/// <param name="head_centroid_y">head centroid y position in millimetres relative to the top left corner of the body</param>
/// <param name="head_centroid_z">head centroid z position in millimetres relative to the top left corner of the body</param>
/// <param name="head_pan">head pan angle in radians</param>
/// <param name="head_tilt">head tilt angle in radians</param>
/// <param name="head_roll">head roll angle in radians</param>
/// <param name="baseline_mm">stereo camera baseline in millimetres</param>
/// <param name="stereo_camera_position_x">stereo camera x position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_position_y">stereo camera y position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_position_z">stereo camera z position in millimetres relative to the head centroid</param>
/// <param name="stereo_camera_pan">stereo camera pan in radians relative to the head</param>
/// <param name="stereo_camera_tilt">stereo camera tilt in radians relative to the head</param>
/// <param name="stereo_camera_roll">stereo camera roll in radians relative to the head</param>
/// <param name="head_location">returned location/orientation of the robot head</param>
/// <param name="camera_centre_location">returned stereo camera centre position/orientation</param>
/// <param name="left_camera_location">returned left camera position/orientation</param>
/// <param name="right_camera_location">returned right camera position/orientation</param>
public static void calculateCameraPositions(
float body_width_mm,
float body_length_mm,
float body_centre_of_rotation_x,
float body_centre_of_rotation_y,
float body_centre_of_rotation_z,
float head_centroid_x,
float head_centroid_y,
float head_centroid_z,
float head_pan,
float head_tilt,
float head_roll,
float baseline_mm,
float stereo_camera_position_x,
float stereo_camera_position_y,
float stereo_camera_position_z,
float stereo_camera_pan,
float stereo_camera_tilt,
float stereo_camera_roll,
ref pos3D head_location,
ref pos3D camera_centre_location,
ref pos3D left_camera_location,
ref pos3D right_camera_location)
{
// calculate the position of the centre of the head relative to
// the centre of rotation of the robots body
pos3D head_centroid =
new pos3D(
-(body_width_mm * 0.5f) + (body_centre_of_rotation_x - (body_width_mm * 0.5f)) + head_centroid_x,
-(body_length_mm * 0.5f) + (body_centre_of_rotation_y - (body_length_mm * 0.5f)) + head_centroid_y,
head_centroid_z);
// location of the centre of the head
// adjusted for the robot pose and the head pan and tilt angle.
// Note that the positions and orientations of individual cameras
// on the head have already been accounted for within stereoModel.createObservation
pos3D head_locn =
head_centroid.rotate(
head_pan, head_tilt, 0);
head_location.copyFrom(head_locn);
// calculate the position of the centre of the stereo camera
// (baseline centre point)
pos3D camera_centre_locn =
new pos3D(
stereo_camera_position_x,
stereo_camera_position_y,
stereo_camera_position_z);
// rotate the stereo camera
camera_centre_locn =
camera_centre_locn.rotate(
stereo_camera_pan + head_pan,
stereo_camera_tilt + head_tilt,
stereo_camera_roll + head_roll);
// move the stereo camera relative to the head position
camera_centre_location =
camera_centre_locn.translate(
head_location.x,
head_location.y,
head_location.z);
// where are the left and right cameras?
// we need to know this for the origins of the vacancy models
float half_baseline_length = baseline_mm * 0.5f;
pos3D left_camera_locn = new pos3D(-half_baseline_length, 0, 0);
left_camera_locn = left_camera_locn.rotate(stereo_camera_pan + head_pan, stereo_camera_tilt + head_tilt, stereo_camera_roll + head_roll);
pos3D right_camera_locn = new pos3D(-left_camera_locn.x, -left_camera_locn.y, -left_camera_locn.z);
left_camera_location = left_camera_locn.translate(camera_centre_location.x, camera_centre_location.y, camera_centre_location.z);
right_camera_location = right_camera_locn.translate(camera_centre_location.x, camera_centre_location.y, camera_centre_location.z);
right_camera_location.pan = left_camera_location.pan;
}
