#include <ucalibrate.h>

Classes
struct	sPos

Public Types
typedef sPos	UsPos

Public Member Functions
void	clear ()

bool	doFindCodeCellIntensity (int size, int sideFactor, UImage source, int borderIntensity, bool extraImages, UImage *destination, int codeNumber)

bool	doFindCodeValue (int size, int sideFactor, int code[], int codeLng, int maxCodeLng, unsigned long intCode, bool debug, int splitIntensity, int indexM, int indexN)

bool	doMakeCodeGrid (int k0, int k1, int k2, int k0dk1, int k0dk2, int k1dB, int k2dB, int size, int sideFactor, float stride, UCalibrationMarkSet *markSet, bool alignFrame, bool saveToFile)

int	doMergeNearHits (float dist)

bool	doOrderHits4 (int size, int k0, int k1, int k2, int k0dk1, int k0dk2, int k1dB, int k2dB, bool extraImages, UImage img, int pixFactor)

int	DoSizeLimit (void)

bool	EnumerateCalibrationDetections (UImage *cim, int connectivity)

bool	EnumerateCalibrationDetections4 (UImage *cim, int connectivity)

bool	findClosestNeighbors (float maxDistance, bool extraImages, UImage source, UImage destination)

int	FindGridLimits ()

UCalibrationMark	FindImagePosition (int sm, int sn)

int	Pack ()

int	PaintChartInImage (UImage image, UPixel pix, UPosition chartPos, UCamPar cm, const char matlabFilename)

int	PaintGridInImage (UImage *image, UPixel pix)

int	PaintHitsInImage (UImage *image, UPixel pix)

int	SaveAllHits (char *filename)

int	SaveCalibCoordinates (char *filename)

int	SaveCalibPointsSquare (char *filename)

void	toLog (const char info, int significance, UTime timestamp=NULL)

	UCalibrationComponents ()

Public Attributes
int	centC

int	centR

UCalibrationComponent *	grid [MAX_CALIB_GRID_SIZE][MAX_CALIB_GRID_SIZE]

int	hitCount

UCalibrationComponent	hits [MAX_CALIBRATION_COMPONENTS]

int	maskN

int	maxC

int	maxR

Protected Attributes
UsPos	mCode [MAX_CELL_COUNT+MAX_CELL_FACTOR][MAX_CELL_COUNT+MAX_CELL_FACTOR]

Private Member Functions
int	CenterCrossScore55 (int row, int col, bool inverse)

int	CenterCrossScore66 (int row, int col)

int	DoFindCenterCross (float strideL, float strideW)

void	DoFindNSEW (int candidate)

bool	DoFindNSEW4 (int candidate, float limit, FILE *fl=NULL)

void	DoFindNSEWHead (int candidate, int head, UCalibBestArray *best)

int	DoFindRowLength4 (int candidate, int *direction, int size)

void	DoRemoveAndRetry (int candidate, int head, UCalibBestArray *best)

void	DoValidateCandidates (int candidate, UCalibBestArray *best)

void	findNextInThisDirection4 (int id, float dx, float dy, float dd, int ID, float vx, float vy, int n, int *next, int stopSize)

void	GetClosestItems (int candidate, UCalibBestArray best, float distanceLimitFactor, FILE fl=NULL)

int	SetRowColForNeighbors (int candidate)

int	SetRowColFromNeighbor (int candidate)

bool	testForFlatness (UCalibrationComponent ht, UCalibrationComponent ht1, UCalibrationComponent *ht2)

Detailed Description

Class to hold calibration points found in an image

Member Typedef Documentation

typedef sPos UCalibrationComponents::UsPos

Temporary structure used when calculating center of gravity of cornetr position.

Constructor & Destructor Documentation

UCalibrationComponents::UCalibrationComponents ( )

Constructor

References clear().

Member Function Documentation

int UCalibrationComponents::CenterCrossScore55	(	int	row,
		int	col,
		bool	inverse
	)

private

Fold the center mask with 2 blocks missing over found grid and Return score

References grid.

Referenced by DoFindCenterCross().

int UCalibrationComponents::CenterCrossScore66	(	int	row,
		int	col
	)

private

Fold the center mask with 4 blocks missing over found grid and Return score

References grid.

Referenced by DoFindCenterCross().

void UCalibrationComponents::clear ( void )

Clear any existing components

References hitCount, hits, and MAX_CALIBRATION_COMPONENTS.

Referenced by UCalibrate::findGmk(), and UCalibrationComponents().

int UCalibrationComponents::DoFindCenterCross	(	float	strideL,
		float	strideW
	)

private

Look for center cross by folding a cross mask over grid area. Returns number of valid positions in grid, or -1 if no center was found. The candidates are then marked with position in grid relative to center of chart, using GRID_STRIDE spacing between markers in meters.

References centC, CenterCrossScore55(), CenterCrossScore66(), centR, UCalibrationComponent::col, grid, hitCount, hits, maskN, MAX_CALIB_GRID_SIZE, UCalibrationComponent::row, UCalibrationComponent::rx, UCalibrationComponent::ry, and toLog().

bool UCalibrationComponents::doFindCodeCellIntensity	(	int	size,
		int	sideFactor,
		UImage *	source,
		int *	borderIntensity,
		bool	extraImages,
		UImage *	destination,
		int	codeNumber
	)

Find intensity value in each code grid cell. Source image is needed for average intensity along border. Paints result to 'destination' if 'extraImage' is true. Destination image is only needed if used. Returns true if successful.

References UPixel::asYUV(), UImage::cvArr(), UPixel::cvRGB(), UImage::getPix(), UImage::height(), UImage::inRange(), isWithinSquare(), maxf(), maxi(), mCode, minf(), mini(), UCalibrationComponents::sPos::n, PIX_PLANES_BGR, PIX_PLANES_RGB, roundi(), UPixel::set(), UImage::setPix(), UPixel::setRGBto(), UPixel::u, UCalibrationComponents::sPos::v, UPixel::v, UImage::width(), and UPixel::y.

bool UCalibrationComponents::doFindCodeValue	(	int	size,
		int	sideFactor,
		int	code[],
		int *	codeLng,
		int	maxCodeLng,
		unsigned long *	intCode,
		bool	debug,
		int	splitIntensity,
		int *	indexM,
		int *	indexN
	)

Extract barcode value to string. The size and side factor defines the barcode frame. The code is returned in the code[] array one (hex) number in each array element (up to 'maxCodeLng'). The last 8 code values are converted to a long integer (assumed 4 bytes) to be used for fast value. Returns true if code is captured.
The index corner has index (m='indexM',n='indexN') in the mCode[m][n] array (with pixel position mCode[m][n].x,mCode[m][n].y)

References getCellCode(), MAX_CELL_FACTOR, MAX_SIDE_LENGTH, mCode, and toLog().

void UCalibrationComponents::DoFindNSEW ( int candidate )

private

Find candidate neighbors in 8 directions for one candidate.

References DoFindNSEWHead(), DoValidateCandidates(), and GetClosestItems().

bool UCalibrationComponents::DoFindNSEW4	(	int	candidate,
		float	limit,
		FILE *	fl = `NULL`
	)

private

Find up to 8 closest neighbors to this point all within the distance limit 'limit'. Returns true if at least one neighbor is found

References UCalibBestArray::count, UCalibXYStat::d, UCalibBestArrayElement::d, UCalibBestArrayElement::dx, UCalibBestArrayElement::dy, GetClosestItems(), hits, UCalibXYStat::id, UCalibBestArrayElement::id, UCalibBestArray::items, UCalibrationComponent::NSEW, UCalibXYStat::x, and UCalibXYStat::y.

Referenced by findClosestNeighbors().

void UCalibrationComponents::DoFindNSEWHead	(	int	candidate,
		int	head,
		UCalibBestArray *	best
	)

private

Find the best candidate in a given direction from this list of up to 12 candidates.

References UCalibXYStat::clear(), UCalibBestArray::count, UCalibXYStat::d, UCalibBestArrayElement::d, UCalibrationComponent::GetDefaultOffset(), hits, UCalibXYStat::id, UCalibBestArrayElement::id, UCalibrationComponent::IsInRightQuadrant(), UCalibBestArray::items, UCalibrationComponent::NSEW, roundi(), sqr(), UCalibBestArrayElement::valid, UCalibXYStat::x, UCalibrationComponent::x, UCalibXYStat::y, and UCalibrationComponent::y.

Referenced by DoFindNSEW(), and DoRemoveAndRetry().

int UCalibrationComponents::DoFindRowLength4	(	int	candidate,
		int *	direction,
		int	size
	)

private

Find length and number of hops for this corner point. Explores direction to all neighbors, and stores distance and number of hops in the NSEW part of the structure.

References UCalibXYStat::d, UCalibXYStat::endId, findNextInThisDirection4(), hits, UCalibXYStat::id, MAX_CALIBRATION_COMPONENTS, UCalibXYStat::n, UCalibrationComponent::NSEW, UCalibXYStat::vx, UCalibXYStat::vy, UCalibXYStat::x, and UCalibXYStat::y.

Referenced by doOrderHits4().

bool UCalibrationComponents::doMakeCodeGrid	(	int	k0,
		int	k1,
		int	k2,
		int	k0dk1,
		int	k0dk2,
		int	k1dB,
		int	k2dB,
		int	size,
		int	sideFactor,
		float	stride,
		UCalibrationMarkSet *	markSet,
		bool	alignFrame,
		bool	saveToFile
	)

Finds grid positions ordered from the 3 cornerpoints ht, ht1, ht2, and the 4 direction direction statistics htT0k1, htTok2, k1ToB, ht2ToB. The positions are saved as a 'UCalibrationMarkSet' with corresponding chart positions and pixel positions. If 'alignFrame' is true then the pixel positions are moved to be on a straight line with the other on the same frame side. Returns true if successful.

References UCalibXYStat::d, findNextInThisDirection4(), U2Dline::getCrossing(), U2Dline::getOnLine(), hits, UCalibXYStat::id, MAX_SIDE_LENGTH, mCode, UCalibrationComponent::NSEW, UCalibrationComponents::sPos::px, UCalibrationComponents::sPos::py, U2Dline::set(), U2Dline::set2P(), UCalibrationMarkSet::setFramePositions(), UCalibXYStat::x, UCalibrationComponent::x, UCalibXYStat::y, and UCalibrationComponent::y.

int UCalibrationComponents::doMergeNearHits ( float dist )

Test for loose components at the edge of others, and merge components if centers are within 'Dist' pixels. Returns number if valid components (<= HitCount)

References absf(), hitCount, hits, UCalibrationComponent::w, UCalibrationComponent::x, and UCalibrationComponent::y.

bool UCalibrationComponents::doOrderHits4	(	int	size,
		int *	k0,
		int *	k1,
		int *	k2,
		int *	k0dk1,
		int *	k0dk2,
		int *	k1dB,
		int *	k2dB,
		bool	extraImages,
		UImage *	img,
		int	pixFactor
	)

Order hits from neighbors for a 2D barcode image detection

References UImage::cvArr(), UCalibXYStat::d, DoFindRowLength4(), UCalibXYStat::endId, hitCount, hits, UCalibXYStat::id, UCalibXYStat::n, NON_PARALLEL_FACTOR, UCalibrationComponent::NSEW, roundi(), sqr(), testForFlatness(), UCalibXYStat::vx, UCalibXYStat::vy, UCalibrationComponent::x, and UCalibrationComponent::y.

void UCalibrationComponents::DoRemoveAndRetry	(	int	candidate,
		int	head,
		UCalibBestArray *	best
	)

private

An invalid neighbor candidate is found, so remove it and try to find a new. Used by DoValidateCandidates only.

References UCalibBestArray::count, DoFindNSEWHead(), hits, UCalibXYStat::id, UCalibBestArrayElement::id, UCalibBestArray::items, UCalibrationComponent::NSEW, and UCalibBestArrayElement::valid.

Referenced by DoValidateCandidates().

int UCalibrationComponents::DoSizeLimit ( void )

In many cases some background elements looks like corners but most will be smaller or bigger than the desired ones, so remove all outside +/- 2 standard deviations (plus a bit) of all corners. Returns number of corners left.

References absf(), hitCount, hits, sqr(), and UCalibrationComponent::w.

void UCalibrationComponents::DoValidateCandidates	(	int	candidate,
		UCalibBestArray *	best
	)

private

Validate that candidate in each heading is in the right direction.

References UCalibXYStat::d, DoRemoveAndRetry(), hits, UCalibXYStat::id, UCalibrationComponent::NSEW, UCalibXYStat::x, and UCalibXYStat::y.

Referenced by DoFindNSEW().

bool UCalibrationComponents::EnumerateCalibrationDetections	(	UImage *	cim,
		int	connectivity
	)

Enumereate pixels in an image with intensity > 0. The method combines pixels using a connectivity of either 'connectivity' = 4, 8, 12 or 20. Each separate component are numbered and added to the component array. returns true cim is an image.

References UImage::getPixRef(), UImage::height(), hitCount, hits, MAX_CALIBRATION_COMPONENTS, MAX_IMAGE_HEIGHT, MAX_IMAGE_WIDTH, UCalibrationComponent::w, UImage::width(), UCalibrationComponent::x, UCalibrationComponent::y, and UPixel::y.

bool UCalibrationComponents::EnumerateCalibrationDetections4	(	UImage *	cim,
		int	connectivity
	)

Enumereate pixels in an image with intensity > 0. Each of the 2x2 quadrants are treaded seperately, i.e. not combined with corner of opposite type. The method combines pixels using a connectivity of either 'connectivity' = 4, 8, 12 or 20. Each separate component are numbered and added to the component array. returns true cim is an image.

References dist, UCalibrationComponent::filter, UImage::getPixRef(), UImage::height(), hitCount, hits, MAX_CALIBRATION_COMPONENTS, MAX_IMAGE_HEIGHT, MAX_IMAGE_WIDTH, UPixel::u, UPixel::v, UCalibrationComponent::w, UImage::width(), UCalibrationComponent::x, UCalibrationComponent::y, and UPixel::y.

bool UCalibrationComponents::findClosestNeighbors	(	float	maxDistance,
		bool	extraImages,
		UImage *	source,
		UImage *	destination
	)

This routine validates and orders the found cornerpoints assumed to be within the test following pattern 1 2 3 4 5 6 7 8 9 (9 cols x 11 rows - 8 = 91 corners) x x x x x x x x x 1 x x x x x x x x x 2 x x x x x x x x x 3 x x x x x x x 4 x x x x x x x 5 Painted on A4 with x x x x x x x x x 6 2cm between corners x x x x x x x 7 center pattern x x x x x x x 8 used for x x x x o o x x x 9 edge detection x x x x o o x x x 10 x x x x x x x x x 11 Method

first find candidate neighbors in 8 directions this will fail at edges, where some directions will find a wrong candidate
Check for direction of neighbors and fix
Renumber remaining candidates in a row-column grid starting with a candidate with 8 neighbors, and trust primarily neighbors with 8 or 7 neighbors for continued numbering edge candidates will only be numbered from a 7 or 8 neighbor candidate. Unnumbered candidates will be dropped.
Check that numbering is consistent.
Find center pattern and renumber to correct row and column. Adds corner position oncalibration chart to data set (using 'stride') Returns number of corners. Find nearest neighbors for barcode detection. The neighbors must be nearer than 'maxDistance' (in pixels). If 'extraImages' is true, then neighbor lines gets drawn in 'destination' image in top of a faded copy of 'source' image. Returns true if at least one neighbor is found.

References DoFindNSEW4(), UImage::height(), hitCount, hits, Pack(), UCalibrationComponent::PaintNeighbors(), PIX_PLANES_RGB, and UPixel::setRGBto().

int UCalibrationComponents::FindGridLimits ( )

Find maxR and maxC as limits for grid positions.

References grid, MAX_CALIB_GRID_SIZE, maxC, and maxR.

Referenced by SaveCalibCoordinates(), and SaveCalibPointsSquare().

UCalibrationMark UCalibrationComponents::FindImagePosition	(	int	sm,
		int	sn
	)

Find position in image using coordinates in found grid. Returns found positions in ix and iy, but not the corresponding position in chart coorfinates returns 0 if succesfull, and -1 if not.

References UCalibrationMark::col, UCalibrationMark::ix, UCalibrationMark::iy, mCode, UCalibrationComponents::sPos::px, UCalibrationComponents::sPos::py, and UCalibrationMark::row.

void UCalibrationComponents::findNextInThisDirection4	(	int	id,
		float	dx,
		float	dy,
		float	dd,
		int *	ID,
		float *	vx,
		float *	vy,
		int *	n,
		int *	next,
		int	stopSize
	)

private

Search if candidate 'id' has a neighbor, in distance 'dd' and dirextion 'dx', 'dy' - all within 1/4 of 'dd' margin. If so increase hop-count 'n' and total distance 'vx' and 'vy'. Function is called recursively. Stop recursion, when n has reached 'stopSize'.

References UCalibXYStat::d, hits, UCalibXYStat::id, UCalibrationComponent::NSEW, sqr(), UCalibXYStat::x, and UCalibXYStat::y.

Referenced by DoFindRowLength4(), and doMakeCodeGrid().

void UCalibrationComponents::GetClosestItems	(	int	candidate,
		UCalibBestArray *	best,
		float	distanceLimitFactor,
		FILE *	fl = `NULL`
	)

private

Find a list of close neighbors to this candidate and plase then in the best array.

References UCalibBestArray::AddCandidate(), UCalibBestArray::count, UCalibBestArrayElement::d, UCalibBestArray::DoLimitCandidates(), UCalibBestArrayElement::dx, UCalibBestArrayElement::dy, UCalibrationComponent::GetMaxBlockDist(), hitCount, hits, UCalibBestArrayElement::id, UCalibBestArray::items, and MAX_BEST_ARRAY_SIZE.

Referenced by DoFindNSEW(), and DoFindNSEW4().

int UCalibrationComponents::Pack ( )

Pack components, so that any non valid (w==0) ones are removed

References hitCount, and hits.

Referenced by findClosestNeighbors().

int UCalibrationComponents::PaintChartInImage	(	UImage *	image,
		UPixel	pix,
		UPosition *	chartPos,
		UCamPar *	cm,
		const char *	matlabFilename
	)

Paint real chart positions in image where they should be if calibration was OK. Saves corner positions to in matlab format if matlabFilename != NULL. Return 0.

References UImage::cvArr(), UPixel::cvRGB(), UMatrix::expand(), UMatrix::get(), UCamPar::getItoP(), hitCount, hits, UMatrix::normalize(), roundi(), UCalibrationComponent::ry, UMatrix::set(), UPosition::x, UPosition::y, and UPosition::z.

int UCalibrationComponents::PaintGridInImage	(	UImage *	image,
		UPixel	pix
	)

Paints components in grid[row][col] array on this image using the color in pix. Pix is in YUV format
Paint in lines connecting rows and cols when consecutive Returns 0.

References UImage::cvArr(), UPixel::cvRGB(), grid, MAX_CALIB_GRID_SIZE, PIX_PLANES_RGB, roundi(), UPixel::setRGBto(), UCalibrationComponent::x, and UCalibrationComponent::y.

int UCalibrationComponents::PaintHitsInImage	(	UImage *	image,
		UPixel	pix
	)

Paints components in hits[] array on this image using the base color in pix. Pix is in YUV format, and intensity are set from weight (hits[].w).
Returns 0.

References UImage::cvArr(), UPixel::cvRGB(), hitCount, hits, mini(), and UPixel::y.

int UCalibrationComponents::SaveAllHits ( char * filename )

Save selected hit information to file

References hitCount, and hits.

int UCalibrationComponents::SaveCalibCoordinates ( char * filename )

Save calibration coordinates in MATLAB format, as needed by camera calibratution routine: p = [chart x (left), y (up), z (0.0), image col (left), row (down), 0, 0, 1; ...];
...
chart x (left), y (up), z (0.0), image col (left), row (down), 0, 0, 1];
filename should end on '.m', as a MATLAB file. Returns 0 if OK, else -1.

References FindGridLimits(), grid, maxC, maxR, UCalibrationComponent::rx, UCalibrationComponent::ry, UCalibrationComponent::x, and UCalibrationComponent::y.

int UCalibrationComponents::SaveCalibPointsSquare ( char * filename )

Save grid coordinates to a file for verification of correct numbering ('txt' file).

References FindGridLimits(), grid, maxC, and maxR.

int UCalibrationComponents::SetRowColForNeighbors ( int candidate )

private

Set row and column for all neighbors without one, assuming this candidate has a number. Continues numbering using breast first and setting the numbers using 'SetRowColFromNeighbor(n)' to ensure best consistency, when there is conflicts. Returns 0.

References hits, UCalibXYStat::id, MAX_CALIBRATION_COMPONENTS, UCalibrationComponent::NSEW, and SetRowColFromNeighbor().

int UCalibrationComponents::SetRowColFromNeighbor ( int candidate )

private

Give this item a row/col number based on neighbor oppinion

References UCalibrationComponent::col, hits, UCalibXYStat::id, UCalibrationComponent::NSEW, UCalibrationComponent::row, and UCalibrationComponent::SetRc().

Referenced by SetRowColForNeighbors().

bool UCalibrationComponents::testForFlatness	(	UCalibrationComponent *	ht,
		UCalibrationComponent *	ht1,
		UCalibrationComponent *	ht2
	)

private

Test if the square formed by the 3 corners are too flat to be a usable square. Returns true if size is usable.

Todo:: There should be a parameter to decide what is usable, but for now a fixed value of 14 pixels wide is used.

References absf(), U2Dline::distanceSigned(), U2Dline::set2P(), UCalibrationComponent::x, and UCalibrationComponent::y.

Referenced by doOrderHits4().

void UCalibrationComponents::toLog	(	const char *	info,
		int	significance,
		UTime *	timestamp = `NULL`
	)

inline

Save this message in logfile if significance is less than logLevel. Print also to console (debug feature) if verbose messages. Timestamp is optional, if not used, then Now() is used in logfile.

References dist, img, UCalibXYStat::n, toLogGmk(), UCalibXYStat::vx, and UCalibXYStat::vy.

Referenced by UCalibrationMarkSets::doEstimateCameraParameters(), UCalibrationMarkSets::doEstimateCameraParametersBinary(), UCalibrationMarkSets::doEstimateCameraParametersCarpet(), DoFindCenterCross(), doFindCodeValue(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSets::evaluatek1PixError(), UCalibrationMarkSet::evaluatePosRot(), UCalibrate::findGmk(), UCalibrationMarkSet::info(), and UCalibrationMarkSet::saveMarksToFile().