CameraBridgeFactory.cpp

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#include "CameraBridge.h"
#include "CameraBridgeFactory.h"
#include <string>

// ----------------------------------------------------------------------------

const std::string CameraBridgeFactory::m_camera_names[NCameras] =
{
        "pike", "unibrain", "unibrain_monoslam", "sony_test", "gazebo_sim",
        "unibrain_rectified", "unibrain_bayer","kinect"
};

// ----------------------------------------------------------------------------

CameraBridge CameraBridgeFactory::Create(const std::string& model)
{

        if(model == ""){
                // default camera
                return CameraBridge();
                //return CameraBridge(CameraBridge::BW);

        }else if(model == m_camera_names[0]){ // pike
                // Pike camera
                return CameraBridge();
                //return CameraBridge(CameraBridge::BW);

        }else if(model == m_camera_names[1]){ // the unibrain wide angle lens camera
                // pixel units
                const float s = 2.f; // params are for 320x240, but images are at 640x480
                const float cx = 171.78f * s; //171.95f * s;
                const float cy = 127.41f  * s; //127.69f * s;
                const float f = 196.8214f * s; //195.7243f * s;
                const float k1 = -0.3421f;
                const float k2 = 0.1468f;
                const int w = 640;
                const int h = 480;

                //return CameraBridge(CameraBridge::BAYER_BG, w, h,
                //      cx, cy, f, f, k1, k2, 0.f, 0.f);
                return CameraBridge(w, h,
                        cx, cy, f, f, k1, k2, 0.f, 0.f);

        }else if(model == m_camera_names[2]){ // unibrain (wide angle lens) but
                // with the monoslam configuration (320x240 with bayer corrected)

                const float s = 1.f; // params are for 320x240
                const float cx = 171.78f * s; //171.95f * s;
                const float cy = 127.41f  * s; //127.69f * s;
                const float f = 196.8214f * s; //195.7243f * s;
                const float k1 = -0.3421f;
                const float k2 = 0.1468f;
                const int w = 320;
                const int h = 240;

                //return CameraBridge(CameraBridge::BW, w, h,
                //      cx, cy, f, f, k1, k2, 0.f, 0.f);
                return CameraBridge(w, h,
                        cx, cy, f, f, k1, k2, 0.f, 0.f);

  }else if(model == m_camera_names[3]) {
    // sony dsc-w30 photo camera, used to take the images for creating 3d models
    // it is used for testing purposes only

    // model images are undistorted
    const int w = 1632;
    const int h = 1224;
    const float cx = w/2.f;
    const float cy = h/2.f;
    const float f = 1790; // this depends on the image selected

    // the tester sends bw images
    //return CameraBridge(CameraBridge::BW, w, h, cx, cy, f, f);
    return CameraBridge(w, h, cx, cy, f, f);

  }else if(model == m_camera_names[4]) {
    // gazebo sim, custom parameters

    // model images are undistorted
    const int w = 640;
    const int h = 480;
    const float cx = 320.5f;
    const float cy = 240.5f;
    const float f = 320.f;
    //return CameraBridge(CameraBridge::BW, w, h, cx, cy, f, f);
    return CameraBridge(w, h, cx, cy, f, f);

  }else if(model == m_camera_names[5]) {
    // unibrain, but image is already rectified
    const float s = 2.f; // params are for 320x240, but images are at 640x480
                const float cx = 171.78f * s; //171.95f * s;
                const float cy = 127.41f  * s; //127.69f * s;
                const float f = 196.8214f * s; //195.7243f * s;
                const int w = 640;
                const int h = 480;

                return CameraBridge(w, h,
                        cx, cy, f, f, 0.f, 0.f, 0.f, 0.f);

  }else if(model == m_camera_names[6]) {
    // unibrain, but the bayer patter and the distortion must
    // be removed from the image
    // (this is a debugging camera)
   // Marta Parameters
        const float cx = 309.8205f; //171.95f * s;
                const float cy = 252.1384f; //127.69f * s;
                const float fx = 390.1922f; //195.7243f * s;
                const float fy = 390.1463f;
        const float k1 = -0.3161f;
                const float k2 = 0.0941f;
                const int w = 640;
                const int h = 480;
/*
      const float s = 2.f; // params are for 320x240, but images are at 640x480
                const float cx = 171.78f * s; //171.95f * s;
                const float cy = 127.41f  * s; //127.69f * s;
                const float f = 196.8214f * s; //195.7243f * s;
                const float k1 = -0.3421f;
                const float k2 = 0.1468f;
                const int w = 640;
                const int h = 480;
        */
                return CameraBridge(CameraBridge::BAYER_BG, w, h,
                  cx, cy, fx, fy, k1, k2, 0.f, 0.f);

        }else if(model == m_camera_names[7]) {
    // Kinect
        const float cx = 313.4897f; //171.95f * s;
                const float cy = 263.5015f; //127.69f * s;
                const float fx = 526.6892f; //195.7243f * s;
                const float fy = 526.9683f;
        const float k1 = 0.1370f;
                const float k2 = -0.2156f;
                const int w = 640;
                const int h = 480;

                return CameraBridge(CameraBridge::BAYER_BG, w, h,
                  cx, cy, fx, fy, k1, k2, 0.f, 0.f);
    }else{
                throw std::string("Unknown camera");
        }

}

// ----------------------------------------------------------------------------

bool CameraBridgeFactory::IsValid(const std::string& model)
{
        if(model.empty()) return true;

        for(short i = 0; i < NCameras; ++i){
                if(model == CameraBridgeFactory::m_camera_names[i]){
                        return true;
                }
        }
        return false;
}