kinect_reprojection_parameters.cc

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#include "kinect_reprojection_parameters.h"

namespace tlz {

namespace {

json encode_depth_offset_(const kinect_reprojection_parameters::depth_offset_polyfit& fit) {
    json j_fit = json::object();
    j_fit["x0y0"] = fit.x0y0;
    j_fit["x1y0"] = fit.x1y0;
    j_fit["x0y1"] = fit.x0y1;
    j_fit["x2y0"] = fit.x2y0;
    j_fit["x0y2"] = fit.x0y2;
    j_fit["x1y1"] = fit.x1y1;
    return j_fit;
}

kinect_reprojection_parameters::depth_offset_polyfit decode_depth_offset_(const json& j_fit) {
    kinect_reprojection_parameters::depth_offset_polyfit fit;
    fit.x0y0 = get_or(j_fit, "x0y0", 0.0);
    fit.x1y0 = get_or(j_fit, "x1y0", 0.0);
    fit.x0y1 = get_or(j_fit, "x0y1", 0.0);
    fit.x2y0 = get_or(j_fit, "x2y0", 0.0);
    fit.x0y2 = get_or(j_fit, "x0y2", 0.0);
    fit.x1y1 = get_or(j_fit, "x1y1", 0.0);
    return fit;
}

}

real kinect_reprojection_parameters::depth_offset_polyfit::operator()(vec2 xy) const {
    return x0y0 + xy[0]*x1y0 + xy[1]*x0y1 + x2y0*xy[0]*xy[0] + x0y2*xy[1]*xy[1] + x1y1*xy[0]*xy[1];
}

bool kinect_reprojection_parameters::depth_offset_polyfit::is_none() const {
    return (x0y0 == 0.0) && (x1y0 == 0.0) && (x0y1 == 0.0) && (x2y0 == 0.0) && (x0y2 == 0.0) && (x1y1 == 0.0);
}

json encode_kinect_reprojection_parameters(const kinect_reprojection_parameters& parameters) {
    json j_parameters = json::object();
    j_parameters["ir_intrinsics"] = encode_intrinsics(parameters.ir_intrinsics);
    j_parameters["color_intrinsics"] = encode_intrinsics(parameters.color_intrinsics);
    j_parameters["rotation"] = encode_mat(parameters.rotation);
    j_parameters["translation"] = encode_mat(parameters.translation);
    j_parameters["ir_depth_offset"] = encode_depth_offset_(parameters.ir_depth_offset);
    j_parameters["color_depth_offset"] = encode_depth_offset_(parameters.color_depth_offset);
    return j_parameters;
}


kinect_reprojection_parameters decode_kinect_reprojection_parameters(const json& j_parameters) {
    kinect_reprojection_parameters parameters;
    parameters.ir_intrinsics = decode_intrinsics(j_parameters["ir_intrinsics"]);
    parameters.color_intrinsics = decode_intrinsics(j_parameters["color_intrinsics"]);
    parameters.rotation = decode_mat(j_parameters["rotation"]);
    parameters.translation = decode_mat(j_parameters["translation"]);
    if(has(j_parameters, "ir_depth_offset")) parameters.ir_depth_offset = decode_depth_offset_(j_parameters["ir_depth_offset"]);
    if(has(j_parameters, "color_depth_offset")) parameters.color_depth_offset = decode_depth_offset_(j_parameters["color_depth_offset"]);
    return parameters;
}

}