/// <summary>
/// Overrides the standard GetIntrinsic method.
/// </summary>
/// <param name="channelName">The channel name.</param>
/// <returns>The ProjectiveTransformationZhang</returns>
/// <remarks>The method first searches for a pt file on disk. If this fails it is able to provide internal intrinsics for ZImage channel.</remarks>
public override IProjectiveTransformation GetIntrinsics(string channelName)
{
IProjectiveTransformation result = null;
log.Info("Trying to load projective transformation from file.");
try
{
return(base.GetIntrinsics(channelName));
}
catch { /* empty */ }
if (result == null)
{
log.Info("Projective transformation file not found. Using R200 factory intrinsics as projective transformation.");
switch (channelName)
{
case ChannelNames.ZImage:
result = new ProjectiveTransformationZhang(widthZImage, heightZImage, calibDataDepth.focalLength.x, calibDataDepth.focalLength.y, calibDataDepth.principalPoint.x, calibDataDepth.principalPoint.y, calibDataDepth.radialDistortion[0], calibDataDepth.radialDistortion[1], calibDataDepth.radialDistortion[2], calibDataDepth.tangentialDistortion[0],
calibDataDepth.tangentialDistortion[1]);
break;
case ChannelNames.Color:
result = new ProjectiveTransformationZhang(widthColor, heightColor, calibDataColor.focalLength.x, calibDataColor.focalLength.y, calibDataColor.principalPoint.x, calibDataColor.principalPoint.y, calibDataColor.radialDistortion[0], calibDataColor.radialDistortion[1], calibDataColor.radialDistortion[2], calibDataColor.tangentialDistortion[0],
calibDataColor.tangentialDistortion[1]);
break;
default:
log.Error("Unsupported channel in GetIntrinsics().");
throw new ArgumentException("Unsupported channel " + channelName + " in GetIntrinsics().");
}
}
return(result);
}
/// <summary>
/// Loads the intrisic parameters from the camera.
/// </summary>
/// <param name="channelName">Channel for which intrisics are loaded.</param>
/// <returns>ProjectiveTransformationZhang object holding the intrinsics.</returns>
public override IProjectiveTransformation GetIntrinsics(string channelName)
{
if (channelName == ChannelNames.Intensity || channelName == ChannelNames.Distance)
{
ProjectiveTransformationZhang proj;
lock (cameraLock)
{
proj = new ProjectiveTransformationZhang(imageData.Width,
imageData.Height,
imageData.FX,
imageData.FY,
imageData.CX,
imageData.CY,
imageData.K1,
imageData.K2,
0,
0,
0);
}
return(proj);
}
throw new ArgumentException(string.Format("Channel {0} intrinsics not supported.", channelName));
}
