1 /* 2 * calibration_parser.cpp - parse fisheye calibration file 3 * 4 * Copyright (c) 2016-2017 Intel Corporation 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 * 18 * Author: Junkai Wu <junkai.wu (at) intel.com> 19 */ 20 21 #include "calibration_parser.h" 22 #include "file_handle.h" 23 24 namespace XCam { 25 26 CalibrationParser::CalibrationParser() 27 { 28 } 29 30 #define CHECK_NULL(ptr) \ 31 if(ptr == NULL) { \ 32 XCAM_LOG_ERROR("Parse file failed"); \ 33 return XCAM_RETURN_ERROR_FILE; \ 34 } 35 36 XCamReturn 37 CalibrationParser::parse_intrinsic_param(char *file_body, IntrinsicParameter &intrinsic_param) 38 { 39 char *line_str = NULL; 40 char *line_endptr = NULL; 41 char *tok_str = NULL; 42 char *tok_endptr = NULL; 43 static const char *line_tokens = "\r\n"; 44 static const char *str_tokens = " \t"; 45 46 do { 47 line_str = strtok_r(file_body, line_tokens, &line_endptr); 48 CHECK_NULL(line_str); 49 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 50 while(tok_str == NULL || tok_str[0] == '#') { 51 line_str = strtok_r(NULL, line_tokens, &line_endptr); 52 CHECK_NULL(line_str); 53 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 54 } 55 56 line_str = strtok_r(NULL, line_tokens, &line_endptr); 57 CHECK_NULL(line_str); 58 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 59 while(tok_str == NULL || tok_str[0] == '#') { 60 line_str = strtok_r(NULL, line_tokens, &line_endptr); 61 CHECK_NULL(line_str); 62 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 63 } 64 intrinsic_param.poly_length = strtol(tok_str, NULL, 10); 65 66 XCAM_FAIL_RETURN ( 67 ERROR, intrinsic_param.poly_length <= XCAM_INTRINSIC_MAX_POLY_SIZE, 68 XCAM_RETURN_ERROR_PARAM, 69 "intrinsic poly length:%d is larger than max_size:%d.", 70 intrinsic_param.poly_length, XCAM_INTRINSIC_MAX_POLY_SIZE); 71 72 for(uint32_t i = 0; i < intrinsic_param.poly_length; i++) { 73 tok_str = strtok_r(NULL, str_tokens, &tok_endptr); 74 CHECK_NULL(tok_str); 75 intrinsic_param.poly_coeff[i] = (strtof(tok_str, NULL)); 76 } 77 78 line_str = strtok_r(NULL, line_tokens, &line_endptr); 79 CHECK_NULL(line_str); 80 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 81 while(tok_str == NULL || tok_str[0] == '#') { 82 line_str = strtok_r(NULL, line_tokens, &line_endptr); 83 CHECK_NULL(line_str); 84 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 85 } 86 intrinsic_param.yc = strtof(tok_str, NULL); 87 88 tok_str = strtok_r(NULL, str_tokens, &tok_endptr); 89 CHECK_NULL(tok_str); 90 intrinsic_param.xc = strtof(tok_str, NULL); 91 92 line_str = strtok_r(NULL, line_tokens, &line_endptr); 93 CHECK_NULL(line_str); 94 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 95 while(tok_str == NULL || tok_str[0] == '#') { 96 line_str = strtok_r(NULL, line_tokens, &line_endptr); 97 CHECK_NULL(line_str); 98 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 99 } 100 intrinsic_param.c = strtof(tok_str, NULL); 101 102 tok_str = strtok_r(NULL, str_tokens, &tok_endptr); 103 CHECK_NULL(tok_str); 104 intrinsic_param.d = strtof(tok_str, NULL); 105 106 tok_str = strtok_r(NULL, str_tokens, &tok_endptr); 107 CHECK_NULL(tok_str); 108 intrinsic_param.e = strtof(tok_str, NULL); 109 } while(0); 110 111 return XCAM_RETURN_NO_ERROR; 112 } 113 114 XCamReturn 115 CalibrationParser::parse_extrinsic_param(char *file_body, ExtrinsicParameter &extrinsic_param) 116 { 117 char *line_str = NULL; 118 char *line_endptr = NULL; 119 char *tok_str = NULL; 120 char *tok_endptr = NULL; 121 static const char *line_tokens = "\r\n"; 122 static const char *str_tokens = " \t"; 123 124 do { 125 line_str = strtok_r(file_body, line_tokens, &line_endptr); 126 CHECK_NULL(line_str); 127 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 128 while(tok_str == NULL || tok_str[0] == '#') { 129 line_str = strtok_r(NULL, line_tokens, &line_endptr); 130 CHECK_NULL(line_str); 131 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 132 } 133 extrinsic_param.trans_x = strtof(tok_str, NULL); 134 135 line_str = strtok_r(NULL, line_tokens, &line_endptr); 136 CHECK_NULL(line_str); 137 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 138 while(tok_str == NULL || tok_str[0] == '#') { 139 line_str = strtok_r(NULL, line_tokens, &line_endptr); 140 CHECK_NULL(line_str); 141 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 142 } 143 extrinsic_param.trans_y = strtof(tok_str, NULL); 144 145 line_str = strtok_r(NULL, line_tokens, &line_endptr); 146 CHECK_NULL(line_str); 147 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 148 while(tok_str == NULL || tok_str[0] == '#') { 149 line_str = strtok_r(NULL, line_tokens, &line_endptr); 150 CHECK_NULL(line_str); 151 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 152 } 153 extrinsic_param.trans_z = strtof(tok_str, NULL); 154 155 line_str = strtok_r(NULL, line_tokens, &line_endptr); 156 CHECK_NULL(line_str); 157 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 158 while(tok_str == NULL || tok_str[0] == '#') { 159 line_str = strtok_r(NULL, line_tokens, &line_endptr); 160 CHECK_NULL(line_str); 161 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 162 } 163 extrinsic_param.roll = strtof(tok_str, NULL); 164 165 line_str = strtok_r(NULL, line_tokens, &line_endptr); 166 CHECK_NULL(line_str); 167 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 168 while(tok_str == NULL || tok_str[0] == '#') { 169 line_str = strtok_r(NULL, line_tokens, &line_endptr); 170 CHECK_NULL(line_str); 171 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 172 } 173 extrinsic_param.pitch = strtof(tok_str, NULL); 174 175 line_str = strtok_r(NULL, line_tokens, &line_endptr); 176 CHECK_NULL(line_str); 177 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 178 while(tok_str == NULL || tok_str[0] == '#') { 179 line_str = strtok_r(NULL, line_tokens, &line_endptr); 180 CHECK_NULL(line_str); 181 tok_str = strtok_r(line_str, str_tokens, &tok_endptr); 182 } 183 extrinsic_param.yaw = strtof(tok_str, NULL); 184 } while(0); 185 186 return XCAM_RETURN_NO_ERROR; 187 } 188 189 XCamReturn 190 CalibrationParser::parse_intrinsic_file(const char *file_path, IntrinsicParameter &intrinsic_param) 191 { 192 XCAM_ASSERT (file_path); 193 194 FileHandle file_reader; 195 XCamReturn ret = XCAM_RETURN_NO_ERROR; 196 std::vector<char> context; 197 size_t file_size = 0; 198 199 XCAM_FAIL_RETURN ( 200 WARNING, xcam_ret_is_ok (ret = file_reader.open (file_path, "r")), ret, 201 "open intrinsic file(%s) failed.", file_path); 202 XCAM_FAIL_RETURN ( 203 WARNING, xcam_ret_is_ok (ret = file_reader.get_file_size (file_size)), ret, 204 "read intrinsic file(%s) failed to get file size.", file_path); 205 context.resize (file_size + 1); 206 XCAM_FAIL_RETURN ( 207 WARNING, xcam_ret_is_ok (ret = file_reader.read_file (&context[0], file_size)), ret, 208 "read intrinsic file(%s) failed, file size:%d.", file_path, (int)file_size); 209 file_reader.close (); 210 context[file_size] = '\0'; 211 212 return parse_intrinsic_param (&context[0], intrinsic_param); 213 } 214 215 XCamReturn 216 CalibrationParser::parse_extrinsic_file(const char *file_path, ExtrinsicParameter &extrinsic_param) 217 { 218 XCAM_ASSERT (file_path); 219 220 FileHandle file_reader; 221 XCamReturn ret = XCAM_RETURN_NO_ERROR; 222 std::vector<char> context; 223 size_t file_size = 0; 224 225 XCAM_FAIL_RETURN ( 226 WARNING, xcam_ret_is_ok (ret = file_reader.open (file_path, "r")), ret, 227 "open extrinsic file(%s) failed.", file_path); 228 XCAM_FAIL_RETURN ( 229 WARNING, xcam_ret_is_ok (ret = file_reader.get_file_size (file_size)), ret, 230 "read extrinsic file(%s) failed to get file size.", file_path); 231 context.resize (file_size + 1); 232 XCAM_FAIL_RETURN ( 233 WARNING, xcam_ret_is_ok (ret = file_reader.read_file (&context[0], file_size)), ret, 234 "read extrinsic file(%s) failed, file size:%d.", file_path, (int)file_size); 235 file_reader.close (); 236 context[file_size] = '\0'; 237 238 return parse_extrinsic_param (&context[0], extrinsic_param); 239 } 240 241 } 242
