#include <ucalibrate.h>

Public Member Functions
bool	allocateBufferImages (UImagePool *imgPool)

bool	findBarcodeChartPosition (UCamMounted cam, UCalibrationMarkSet dataset, UCalibrationMark indexCorner, int gmkBlocks, float gmkBlockSize, UImage img, float pixFactor, bool removeRadialError, bool debug)

bool	findCameraPosition (UCamMounted cam, UCalibrationMarkSet dataset, bool findPosition, float chartCenterHeight, bool debug)

bool	findGmk (UCamMounted cam, UImage img, int frameSizeBlocks, int codeBlockFactor, float sideStride, int maxCodesToLookFor, bool findCode, bool findPosition, bool findRotation, float chartCenterHeight, bool findChartPos, bool nearGMK, bool useVertFilt, bool useDiagFilt, bool extraImages)

UBarcode *	getGmk (int index)

int	getGmksCnt ()

bool	isBufferImagesAvailable ()

bool	MarkCornerDetections4 (UImage fim, UImage cim, int GuardBandH, int GuardBandD, int IntensDiffH, int IntensDiffD, bool assumeBlackIsZero)

int	SaveCalibrationMarks ()

bool	saveCodeFrame (unsigned long codeValue, int codeNum, float strideStride)

void	setCameraParameters (float hx, float hy, float k1, float k2, float f, float resFactor, char *name)

void	setCameraParameters (UCamPar *camPar)

bool	ShowStatus (int setNumber)

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

	UCalibrate ()

	~UCalibrate ()

Public Attributes
UCalibrationMarkSets	calcamset

UCalibrationComponents	cc

UImage *	pCornerImage

UImage *	pFiltImage

UImage *	pGridImage

UImage *	pRawImage

Protected Attributes
UCalibrationMarkSet	frameSet

UBarcode	gmks [MAX_CODES_IN_ONE_IMAGE]

int	gmksCnt

Detailed Description

This class encapsulates functions and methods used for calibration purposes.

Author: Christian Andersen

Constructor & Destructor Documentation

UCalibrate::UCalibrate ( )

Constructor

References logGmk, logLevelGmk, and verboseMessagesGmk.

UCalibrate::~UCalibrate ( )

Destructor

References logGmk.

Member Function Documentation

bool UCalibrate::allocateBufferImages ( UImagePool * imgPool )

Create or assign buffer images for guidemark/calibration process

References UImagePool::getImage(), UCAM_IMS_CALIB_CORNER, UCAM_IMS_CALIB_FILTER, UCAM_IMS_CALIB_GRID, and UCAM_IMS_CALIB_RAW.

Referenced by UFunctionCamGmk::handleGmkGetCommand().

bool UCalibrate::findBarcodeChartPosition	(	UCamMounted *	cam,
		UCalibrationMarkSet *	dataset,
		UCalibrationMark *	indexCorner,
		int	gmkBlocks,
		float	gmkBlockSize,
		UImage *	img,
		float	pixFactor,
		bool	removeRadialError,
		bool	debug
	)

Find position of barcode chart in this dataset. The position (x,y,z) and the orientation of the chart (Omega, Pgi and Kappa) is estimated. The accuracy depends on the pixel position accuracy in the dataset. Returns true if found. The found position is returned in the dataset structure as posBarcode and rotBarcode, with the barcodeValid if the data is valid.

bool UCalibrate::findCameraPosition	(	UCamMounted *	cam,
		UCalibrationMarkSet *	dataset,
		bool	findPosition,
		float	chartCenterHeight,
		bool	debug
	)

Find camera position assuming barcode chart is not rotated relative to camera orientation. if 'findChartPos' then estimate chart both rotation and position, defult is just rotation and z-distance (addition to expected chart position). Returns true if found succesfully. The result is returned in the dataset structure as posCal and rotCal, with the calValid if the data is valid. If 'debug' is true, then some extra logfiles will be produced in result or image path with filename based on image number.

References absd(), UCalibrationMarkSet::calValid, UCalibrationMarkSet::evaluatePosRot(), UCamRad::getCamPar(), UCamMounted::getPosCC(), UCamMounted::getRotCC(), UCalibrationMarkSet::posCal, UCalibrationMarkSet::setStopLimit(), UPosition::x, and UPosition::z.

bool UCalibrate::findGmk	(	UCamMounted *	cam,
		UImage *	img,
		int	frameSizeBlocks,
		int	codeBlockFactor,
		float	sideStride,
		int	maxCodesToLookFor,
		bool	findCode,
		bool	findPosition,
		bool	findRotation,
		float	chartCenterHeight,
		bool	findChartPos,
		bool	nearGMK,
		bool	useVertFilt,
		bool	useDiagFilt,
		bool	extraImages
	)

Clear data store for frame corner positions. Find barcodes in this image. Both horizontal and diagonal may be used simultaniously

Parameters

useVertFilt	use filters for mostly vertical guidemarks
useDiagFilt	use filters for mostly diagonal guidemarks true if at least one is found.

References UCalibrationComponents::clear(), UImage::cvArr(), dataPath, UCamRad::getCamPar(), UCamBase::getDev(), UCamPar::getFocalLength(), UCamDevBase::getImageNumber(), UImage::getPix(), UTime::getTimePassed(), UImage::height(), UImage::imageNumber, imagePath, img, UImage::imgTime, MAX_BARCODE_LENGTH, MAX_CODES_IN_ONE_IMAGE, MAX_IMG_NAME_SIZE, UTime::Now(), UImage::radialErrorRemoved, roundi(), UPosition::set(), URotation::set(), UPixel::set(), UCamMounted::setPosOnRobotCC(), UCalibrationComponents::toLog(), UPixel::u, UPixel::v, UImage::valid, UImage::width(), and UPixel::y.

Referenced by UFunctionCamGmk::handleGmkGetCommand().

UBarcode* UCalibrate::getGmk ( int index )

inline

Get a specific guidemark. NB! no index range check

Referenced by UFunctionCamGmk::handleGmkGetCommand().

int UCalibrate::getGmksCnt ( )

inline

Get number of found guidemarks

Referenced by UFunctionCamGmk::handleGmkGetCommand().

bool UCalibrate::isBufferImagesAvailable ( )

Buffer space is allocated on heap. This function returns true if all went well.

Referenced by UFunctionCamGmk::handleGmkGetCommand().

bool UCalibrate::MarkCornerDetections4	(	UImage *	fim,
		UImage *	cim,
		int	GuardBandH,
		int	GuardBandD,
		int	IntensDiffH,
		int	IntensDiffD,
		bool	assumeBlackIsZero
	)

Compares four pixels from the filtered source image (fim) around a center cell. If there is sufficient intensity difference in the four corners a corner is found, and the pixel is marked in the destination image (cim). No corner is black, red is a white upper left and cyan is black upper left. www—bbb —bbb— 'GuardBand' is pixels from center www—bbb —bbb— cell to corner cell www—bbb —bbb—

default is 3 and is useually OK ------— www—www
(for filter mask 3x3) -—x-— www-x-www
as illustrated to the right ------— www—www
(center cell is marked x) bbb—www —bbb—
("-" is a don't care pixel) bbb—www —bbb— 'IntensDiff' is minimum bbb—www —bbb— difference in black and white intensity. 'AverageDiff' is a maksimum limit of how far away in intensity average the sum of all four blobs may be away from image average at all corner points (in intensity * 4 units), this eliminates stray corner points outside chart. The function finds also diagonal corners in the same way Returns 0 if sucessfull.

References UImage::clear(), UImage::copyMeta(), dataPath, UImage::getPixRef(), UImage::height(), UImage::imageNumber, UImage::imgBytes(), MAX_IMG_NAME_SIZE, UImage::maxBytes(), maxi(), mini(), UImage::name, roundi(), UImage::setColorType(), UImage::setPix(), UPixel::u, UImage::used, UPixel::v, UImage::valid, UImage::width(), and UPixel::y.

Referenced by ShowStatus().

int UCalibrate::SaveCalibrationMarks ( )

Save found information, stored in grid array as calibration set for camera.

bool UCalibrate::saveCodeFrame	(	unsigned long	codeValue,
		int	codeNum,
		float	strideStride
	)

Save the frame positions for this barcode frame. save under 'codeValue' number. If 'codeNum' is -1 then new entry is created else the entry with this 'codeNum' and same 'codeValue' will be overwritten. if it do not exist, a new entry is created. All calculated values gets invalid. Returns true if entry created. Camera positioen relative to robot is in 'camera' (used set) or in this set for a just evaluated value. The default chart position is in 'calcamset.chartPos'. Position of chart relative to robot (and in robot coordinates) is in this set. Rotation of chart is in this set.

void UCalibrate::setCameraParameters	(	float	hx,
		float	hy,
		float	k1,
		float	k2,
		float	f,
		float	resFactor,
		char *	name
	)

inline

Set camera parameters

void UCalibrate::setCameraParameters ( UCamPar * camPar )

inline

Set camera parameters from copy

bool UCalibrate::ShowStatus ( int setNumber )

Find calibration points in this source image with 100 corners,and stores the result calibration marks in the cc structure if successfull. if name provided, then points are saved in textfile with this name in the default image path with a .txt and .m extension. Returns number of found points (100 if all calibration points were found). Show calibration status as info messages.

References UCalibrationMarkSet::info(), and MarkCornerDetections4().

void UCalibrate::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 img, and toLogGmk().

Member Data Documentation

UCalibrationMarkSets UCalibrate::calcamset

Calibrate information sets (calcamset) stores one set of points per camera device.

UCalibrationComponents UCalibrate::cc

Calibration components as extracted from pCornetImage.

UCalibrationMarkSet UCalibrate::frameSet

protected

Working frameset, with latest information on frame

UBarcode UCalibrate::gmks[MAX_CODES_IN_ONE_IMAGE]

protected

Found barcodes in last image

int UCalibrate::gmksCnt

protected

Valid number of barcodes

UImage* UCalibrate::pCornerImage

Image with detected corners marked. Last image stage before corner pixels are combined to components in cc.

UImage* UCalibrate::pFiltImage

Averaged image after low pass.

UImage* UCalibrate::pGridImage

Image used both to lines to neighbor and to code-cell lines and histogram paint

UImage* UCalibrate::pRawImage

Raw image to be used as basis for calibration. (copy from camera or saved image)

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation