/// <summary>
/// returns settings for either pan or tilt axis in Xml format
/// </summary>
/// <param name="doc"></param>
/// <param name="parent"></param>
/// <param name="axis_name"></param>
/// <param name="curve"></param>
/// <param name="offset_x"></param>
/// <param name="offset_y"></param>
/// <returns></returns>
private static XmlElement getPanTiltAxis(
XmlDocument doc, XmlElement parent,
string axis_name,
polynomial curve, float offset_x, float offset_y)
{
// make sure that floating points are saved in a standard format
IFormatProvider format = new System.Globalization.CultureInfo("en-GB");
// pan/tilt mechanism parameters
XmlElement nodeAxis = doc.CreateElement("Axis");
xml.AddTextElement(doc, nodeAxis, "AxisName", axis_name);
string coefficients = "";
for (int i = 0; i <= curve.GetDegree(); i++)
{
coefficients += Convert.ToSingle(curve.Coeff(i), format);
if (i < curve.GetDegree()) coefficients += ",";
}
xml.AddTextElement(doc, nodeAxis, "Coefficients", coefficients);
xml.AddTextElement(doc, nodeAxis, "Offsets", Convert.ToString(offset_x, format) + "," + Convert.ToString(offset_y, format));
parent.AppendChild(nodeAxis);
return (nodeAxis);
}
/// <summary>
/// return an xml element containing camera calibration parameters
/// </summary>
/// <param name="doc"></param>
/// <param name="fov_degrees"></param>
/// <param name="image_width"></param>
/// <param name="image_height"></param>
/// <param name="lens_distortion_curve"></param>
/// <param name="centre_of_distortion_x"></param>
/// <param name="centre_of_distortion_y"></param>
/// <param name="rotation"></param>
/// <param name="scale"></param>
/// <param name="lens_distortion_image_filename"></param>
/// <param name="curve_fit_image_filename"></param>
/// <returns></returns>
private static XmlElement getCameraXml(
XmlDocument doc,
float fov_degrees,
int image_width, int image_height,
polynomial lens_distortion_curve,
double centre_of_distortion_x, double centre_of_distortion_y,
double rotation, double scale,
string lens_distortion_image_filename,
string curve_fit_image_filename)
{
// make sure that floating points are saved in a standard format
IFormatProvider format = new System.Globalization.CultureInfo("en-GB");
string coefficients = "";
if (lens_distortion_curve != null)
{
int degree = lens_distortion_curve.GetDegree();
for (int i = 0; i <= degree; i++)
{
coefficients += Convert.ToString(lens_distortion_curve.Coeff(i), format);
if (i < degree) coefficients += ",";
}
}
else coefficients = "0,0,0";
XmlElement elem = doc.CreateElement("Camera");
doc.DocumentElement.AppendChild(elem);
xml.AddComment(doc, elem, "Horizontal field of view of the camera in degrees");
xml.AddTextElement(doc, elem, "FieldOfViewDegrees", Convert.ToString(fov_degrees, format));
xml.AddComment(doc, elem, "Image dimensions in pixels");
xml.AddTextElement(doc, elem, "ImageDimensions", Convert.ToString(image_width, format) + "," + Convert.ToString(image_height, format));
xml.AddComment(doc, elem, "The centre of distortion in pixels");
xml.AddTextElement(doc, elem, "CentreOfDistortion", Convert.ToString(centre_of_distortion_x, format) + "," + Convert.ToString(centre_of_distortion_y, format));
xml.AddComment(doc, elem, "Polynomial coefficients used to describe the camera lens distortion");
xml.AddTextElement(doc, elem, "DistortionCoefficients", coefficients);
xml.AddComment(doc, elem, "Scaling factor");
xml.AddTextElement(doc, elem, "Scale", Convert.ToString(scale));
xml.AddComment(doc, elem, "Rotation of the image in degrees");
xml.AddTextElement(doc, elem, "RotationDegrees", Convert.ToString(rotation / (float)Math.PI * 180.0f));
xml.AddComment(doc, elem, "The minimum RMS error between the distortion curve and plotted points");
xml.AddTextElement(doc, elem, "RMSerror", Convert.ToString(lens_distortion_curve.GetRMSerror(), format));
xml.AddComment(doc, elem, "Image showing the lens distortion");
xml.AddTextElement(doc, elem, "DistortionImageFilename", lens_distortion_image_filename);
xml.AddComment(doc, elem, "Image showing the best fit curve");
xml.AddTextElement(doc, elem, "CurveFitImageFilename", curve_fit_image_filename);
return (elem);
}
/// <summary>
/// return an xml element containing camera calibration parameters
/// </summary>
/// <param name="doc"></param>
/// <param name="fov_degrees">field of view in degrees</param>
/// <param name="lens_distortion_curve">polynomial describing the lens distortion</param>
/// <param name="centre_of_distortion_x">x coordinate of the centre of distortion within the image in pixels</param>
/// <param name="centre_of_distortion_y">y coordinate of the centre of distortion within the image in pixels</param>
/// <param name="minimum_rms_error">minimum curve fitting error in pixels</param>
/// <param name="scale"></param>
/// <param name="flip_image">whether to flip the image (camera mounted inverted)</param>
/// <returns></returns>
protected static XmlElement getCameraXml(
XmlDocument doc,
float fov_degrees,
polynomial lens_distortion_curve,
float centre_of_distortion_x, float centre_of_distortion_y,
float minimum_rms_error,
float scale,
bool flip_image)
{
//usage.Update("Get camera Xml, BaseVisionStereo, GetCameraXml");
// make sure that floating points are saved in a standard format
IFormatProvider format = new System.Globalization.CultureInfo("en-GB");
string coefficients = "";
if (lens_distortion_curve != null)
{
int degree = lens_distortion_curve.GetDegree();
for (int i = 0; i <= degree; i++)
{
coefficients += Convert.ToString(lens_distortion_curve.Coeff(i), format);
if (i < degree) coefficients += " ";
}
}
else coefficients = "0,0,0";
XmlElement elem = doc.CreateElement("Camera");
doc.DocumentElement.AppendChild(elem);
xml.AddComment(doc, elem, "Horizontal field of view of the camera in degrees");
xml.AddTextElement(doc, elem, "FieldOfViewDegrees", Convert.ToString(fov_degrees, format));
xml.AddComment(doc, elem, "The centre of distortion in pixels");
xml.AddTextElement(doc, elem, "CentreOfDistortion", Convert.ToString(centre_of_distortion_x, format) + " " + Convert.ToString(centre_of_distortion_y, format));
xml.AddComment(doc, elem, "Polynomial coefficients used to describe the camera lens distortion");
xml.AddTextElement(doc, elem, "DistortionCoefficients", coefficients);
xml.AddComment(doc, elem, "The minimum RMS error between the distortion curve and plotted points");
xml.AddTextElement(doc, elem, "RMSerror", Convert.ToString(minimum_rms_error, format));
xml.AddComment(doc, elem, "Scaling factor");
xml.AddTextElement(doc, elem, "Scale", Convert.ToString(scale, format));
if (flip_image)
{
xml.AddComment(doc, elem, "Whether to flip the image (camera mounted inverted)");
xml.AddTextElement(doc, elem, "Flip", Convert.ToString(flip_image));
}
return (elem);
}
