#include <ucamrad.h>

Inheritance diagram for UCamRad:

Public Member Functions
virtual void	createVars ()

UCamPar *	getCamPar ()

int	getDefaultColFormat ()

bool	getDefaultRemRadErr ()

bool	getImageSnapshot (UImage *image)

bool	removeRadialError (UImage source, UImage destination)

void	saveRadialCorrectionMatrix (char *filename)

bool	setCameraParameters (float hx, float hy, float k1, float k2, float focalLng)

void	setDefaultRemRadErr (bool value)

bool	setRadialErrorMatrix ()

	UCamRad (UCamDevBase *device)

void	updateLensParams (const int height, const int width)

virtual	~UCamRad ()

Public Member Functions inherited from UCamPanTiltDevice
int	getPanMaxRange ()

int	getPanMinRange ()

int	getPanPos ()

int	getTiltMaxRange ()

int	getTiltMinRange ()

int	getTiltPos ()

bool	isPantiltSupported ()

bool	isPantiltValid ()

bool	pantiltSetPosition (bool relative, int pan, int tilt)

bool	pantiltToHomePosition ()

bool	pantiltUpdatePosition ()

bool	setPantiltStatus ()

	UCamPanTiltDevice (UCamDevBase *device)

Public Member Functions inherited from UCamBase
const char *	getCamName ()

UCamDevBase *	getDev ()

int	getDevNum ()

virtual void	gotNewImage (UImage *)

virtual void	imgUpdated ()

virtual bool	needNewPushData ()

void	setTypeName (const char *newName)

void	setVarPool (UVarPool *vpd)

	UCamBase (UCamDevBase *device)

virtual	~UCamBase ()

Public Attributes
UVarPool *	varBaseStruct

Protected Member Functions
bool	getRadialU2DOffset (float xu, float yu, float dxd, float dyd)

UXYoffset	getRadialU2DOffsetInt (int x, int y)

virtual void	imageSizeChanged (double iResFactor)

bool	lensParChanged ()

virtual bool	logImage (UImage *)

bool	removeRadialErrorOnePlane (unsigned char ps[], unsigned char pd[], unsigned int height, unsigned int width, float pixSize, bool halfRes)

bool	removeRadialErrorPixels (UPixel ps[], UPixel pd[], unsigned int height, unsigned int width, float pixSize)

Protected Member Functions inherited from UCamPanTiltDevice
bool	protPantiltGetPosition ()

bool	protPantiltGetRange ()

bool	protPantiltReset (bool resetPan, bool resetTilt)

Private Attributes
int	defaultColFormat

bool	defaultRemRadErr

IplImage *	mapx

IplImage *	mapy

UCamPar	par

UXYoffset	radialOffset [MAX_IMAGE_HEIGHT_RAD_SQUARE][MAX_IMAGE_WIDTH_RAD_SQUARE]

bool	radialOffsetValid

UVariable *	varDistortion
	pointer to lens distortion parameters radial (k1, k2, k3) and tangential - ccd-chip not parallel to lens (p1, p2)) More...

UVariable *	varIntrinsic
	pointer to intrinsic camera parameters (focal-length and head-point) More...

Additional Inherited Members
Protected Attributes inherited from UCamBase
UCamDevBase *	dev

UVarPool *	vars

Detailed Description

Class that includes camera functtions to remove radial error in the raw images. The calss is based on both the camera device 'UCamDevice' and camera parameters 'UCamPar'.

Author: Christian Andersen

Constructor & Destructor Documentation

UCamRad::UCamRad ( UCamDevBase * device )

Constructor

References defaultColFormat, defaultRemRadErr, mapx, mapy, PIX_PLANES_YUV, radialOffsetValid, varDistortion, and varIntrinsic.

UCamRad::~UCamRad ( )

virtual

Destructor

References mapx, and mapy.

Member Function Documentation

void UCamRad::createVars ( )

virtual

Create locally maintained variables - if any

Reimplemented from UCamBase.

Reimplemented in UCamMounted, and UCamPush.

References UVarPool::addVarA(), UCamBase::createVars(), varDistortion, varIntrinsic, and UCamBase::vars.

Referenced by UCamMounted::createVars(), and setCameraParameters().

int UCamRad::getDefaultColFormat ( )

inline

Default color format if auto repeat is turned on. is set only when capturing an HDR image set.

bool UCamRad::getDefaultRemRadErr ( )

inline

Should radial error be removed by default when auto repeat is turned on. Is set when capturing an image

bool UCamRad::getImageSnapshot ( UImage * image )

Overwrite get Image Snapshot to allow removal of radial error if such removal is possible and set as default. returns true if image were captured and radial error status were removed or not as requetsed. Result is always in URawImage YUV42 or Bayer RGGB format. If 'image' == NULL then an image is captured, and discarded.

References UCamBase::dev, UCamDevBase::getImageSnapshot(), UCamDevBase::isCameraOpen(), logImage(), and UCamDevBase::openDeviceDefault().

Referenced by UFuncCog::centerOfGravity(), UFuncFocus::doFocus(), UFunctionCam::handleCamPushCommand(), testCameraHDR(), testCameraSettings(), testMatrixVecBig(), testRadErr(), testVideo2(), and testVideo3().

bool UCamRad::getRadialU2DOffset	(	float	xu,
		float	yu,
		float *	dxd,
		float *	dyd
	)

protected

Same as above, but makes float calculations and return change in coordinates to dx, dy. to get the corresponding position in the raw image.

References UCamPar::getRadialU2D(), and par.

Referenced by getRadialU2DOffsetInt().

UXYoffset UCamRad::getRadialU2DOffsetInt	(	int	x,
		int	y
	)

protected

Calculate where to fetch a pixel in the distorted image (raw) to this corrected image position relative to this {x,y} position (+ is right and down). The returned result {X,Y} position is in 16 bit accuracy with fixed decimal point, i.e. multiplied with 'resultDecimalFactor' (probably 10). The decimal part should be used to interpolate between pixels in the raw image.

References UXYoffset::dx, UXYoffset::dy, getRadialU2DOffset(), resultDecimalFactor, and roundi().

Referenced by setRadialErrorMatrix().

void UCamRad::imageSizeChanged ( double iResFactor )

protectedvirtual

Set the parameters derived from resolution, i.e. conversion matrix, radial error valeues etc.

Reimplemented from UCamBase.

References par, radialOffsetValid, UCamPar::setPixelSize(), setRadialErrorMatrix(), and updateLensParams().

bool UCamRad::lensParChanged ( )

protected

Has focal length, headpoint or lens parameters changed - i.e. must rectification matrix be re-calculated.

Returns: true if any of these parameters has changed.

References UVariable::getDouble(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), UVariable::getValued(), par, varDistortion, and varIntrinsic.

Referenced by removeRadialError().

virtual bool UCamRad::logImage ( UImage * )

inlineprotectedvirtual

A call to see if anyone need the image logged.

Parameters

image is the newly captured image.

Returns: true if used.

Reimplemented in UCamMounted.

Referenced by getImageSnapshot().

bool UCamRad::removeRadialError	(	UImage *	source,
		UImage *	destination
	)

Remove radial error from this image. uses openCV cvRemap(..) function to remove error. Resolution of destination will be as source. Uses pre-calculated correction matrix, if image size or rectification parameters has changed, then the rectification matrix is recalculated.

Parameters

source	is source image
destination	is destination image - both must exist at call.

Returns: true if rectified.

References UImage::copyMeta(), UImage::cvArr(), UImage::getColorType(), UCamBase::getDev(), UImage::getHeight(), UCamPar::getPixelSize(), UImage::getUline(), UImage::getVline(), UImage::getWidth(), UImage::getYline(), UCamPar::isValid(), lensParChanged(), mapx, mapy, par, PIX_PLANES_BGGR, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGGB, PIX_PLANES_YUV420, UImage::radialErrorRemoved, removeRadialErrorOnePlane(), UImage::toBGR(), UImage::updated(), and updateLensParams().

Referenced by UFunctionCamBase::getCamAndRawImage(), and UFuncRectify::handleCommand().

bool UCamRad::removeRadialErrorOnePlane	(	unsigned char	ps[],
		unsigned char	pd[],
		unsigned int	height,
		unsigned int	width,
		float	pixSize,
		bool	halfRes
	)

protected

Remove radial error for one pixel plane - either Y, U or V. A source pointer to the top-left pixel must be provided for source and destination, and the size of the images. The decimal factor is the factor in the radial error matrix that desides the decimal point. At full resolution this will normally be 10, at half resolution 20 and so on. For YUV the U and V the height, width and pixel size must be given in half resolution and further 'halfRes' must be true

References absi(), UXYoffset::dx, UXYoffset::dy, UCamPar::getHx(), UCamPar::getHy(), par, radialOffset, resultDecimalFactor, and roundi().

Referenced by removeRadialError().

bool UCamRad::removeRadialErrorPixels	(	UPixel	ps[],
		UPixel	pd[],
		unsigned int	height,
		unsigned int	width,
		float	pixSize
	)

protected

Removes radial error based on offset array in full resolution as produced by 'setRadialErrorMatrix()'. Image pointers must be buffers of 'UPixel' ordered one row at a time, so that the next row follows imidiately after the first. A source pointer to the top-left pixel must be provided for source and destination, and the size of the images. The decimal factor is the factor in the radial error matrix that desides the decimal point. A pixel size must be provide for correct scaling of offset matrix values.

References absi(), UXYoffset::dx, UXYoffset::dy, UCamPar::getHx(), UCamPar::getHy(), par, radialOffset, resultDecimalFactor, roundi(), UPixel::u, UPixel::v, and UPixel::y.

void UCamRad::saveRadialCorrectionMatrix ( char * filename )

Make textfile with radial correction values. Saves pixel offset values for the last used resolution.

References UCamBase::dev, UXYoffset::dx, UXYoffset::dy, UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), UCamPar::getPixelSize(), UCamDevBase::MAX_IMAGE_WIDTH, par, radialOffset, radialOffsetValid, and resultDecimalFactor.

bool UCamRad::setCameraParameters	(	float	hx,
		float	hy,
		float	k1,
		float	k2,
		float	focalLng
	)

Set camera internal parameters and redo the matrix for radial error removal and for conversion in camera coordinates (pixel to 3D and reverse). Parameters are expected to be in scale 1, i.e. 640x480 image size focal length, hx, hy (headpoint) are all in pixels and pixSizeFactor is pixel size relative to 640x480, i.e. 320x240 gives a pixSizeFactor of 2.0. Returns true if successful.

References createVars(), UCamBase::dev, UCamDevBase::getPixelSize(), par, UCamPar::setCameraParameters(), UVariable::setDouble(), setRadialErrorMatrix(), updateLensParams(), varDistortion, and varIntrinsic.

Referenced by UFuncPiCam::run(), UComCamSml::setCamDevice(), and testRadErr().

void UCamRad::setDefaultRemRadErr ( bool value )

inline

Should radial error be removed by default when auto repeat is turned on. Is set when capturing an image

bool UCamRad::setRadialErrorMatrix ( )

Removal of radial error is done in according to calibration information in the referenced camera. Removal follows the guidelines in Image Analysis, Vision and Computer Graphics DTU/IMM publication by Jens Michael Carstensen Lyngby 2001, page 75.
focus length, Head-point (hx and hy) and correction factors (k1 and k2) are always in 640x480 resolution.

References UXYoffset::dx, UCamPar::getHx(), UCamPar::getHy(), UCamPar::getPixelSize(), getRadialU2DOffsetInt(), MAX_IMAGE_HEIGHT_RAD_SQUARE, MAX_IMAGE_WIDTH_RAD_SQUARE, par, radialOffset, radialOffsetValid, and UCamPar::setPixelSize().

Referenced by imageSizeChanged(), and setCameraParameters().

void UCamRad::updateLensParams	(	const int	height,
		const int	width
	)

Update lens parameters and setup distortion correction matrix - as used by openCV. and as used by the old correction scheme - in the UCamPar structure. Parameters are assumed to be loaded into the corresponding clobal variables

Parameters