#include <ucalibrate.h>

Public Member Functions
void	clear ()

int	countSetsWith (unsigned int codeValue)

bool	doEstimateCameraParameters (UCamPar *oldEstimate, bool debug)

bool	doEstimateCameraParametersBinary (UCamPar *oldEstimate, bool debug, unsigned long setsToUse, bool alsoFocalLength, bool alsoK1, bool alsoK2)

bool	doEstimateCameraParametersCarpet (UCamPar *oldEstimate, bool debug)

UPosition	getCalibrationChartPosition ()

UCamPar *	getCamPar ()

UCalibrationMarkSet *	getNewSet ()

int	getSavedSets ()

UCalibrationMarkSet *	getSet (int setNumber)

UCalibrationMarkSet *	getThisSet (unsigned int codeValue, int nth)

bool	saveNewSet (UCalibrationMarkSet *frameSet)

void	setCalibrationChartPosition (UPosition newChartPos)

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

void	setCameraParameters (UCamPar *camPar)

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

	UCalibrationMarkSets ()

	~UCalibrationMarkSets ()

Private Member Functions
float	evaluatek1PixError (UCalibrationMarkSet cset[], unsigned int sets_used, const float hx, const float hy, const float k1min, float k1max, float k1e, int steps1, const float k2min, float k2max, float *k2e, int steps2, const float c, float pixSize, bool alsoK1, bool alsoK2)

float	evaluatek2PixError (UCalibrationMarkSet cset[], unsigned int sets_used, const float hx, const float hy, const float k1, const float k2min, float k2max, float k2e, int steps, const float c, float pixSize, bool alsoK2)

float	evaluatePixError (UCalibrationMarkSet *cset[], unsigned int sets_used, const float hx, const float hy, const float k1, const float k2, const float c, float pixSize)

Private Attributes
UPosition	chartPos

UCamParEst	estCamPar

UCalibrationMarkSet	set [MAX_CALIBRATION_SETS_SAVED]

int	setCnt

Detailed Description

Class to hold calibration mark sets for a number of images (or for a number of barcode frames). For each frame the position of all frame positions are saved for calibrtion purposes or for calculation of camera or barcode position.

Constructor & Destructor Documentation

UCalibrationMarkSets::UCalibrationMarkSets ( )

Constructor

UCalibrationMarkSets::~UCalibrationMarkSets ( )

inline

Destructor

Member Function Documentation

void UCalibrationMarkSets::clear ( void )

initialize flags.

int UCalibrationMarkSets::countSetsWith ( unsigned int codeValue )

Returns count of data sets with this barcode value.

bool UCalibrationMarkSets::doEstimateCameraParameters	(	UCamPar *	oldEstimate,
		bool	debug
	)

Calculate camera internal parameters. Assume that each set has an associated chart position. Make an parameter least square estimate based in 4 corners in each (of 5) dataset. With the new estimate make a new position estimate for each set, then verify error size, to exit if error is minimum. REturns false if no result.

References UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::geterrorInPixels(), UCalibrationMark::ix, UCalibrationMark::iy, UCalibrationMarkSet::mark, UCalibrationMarkSet::markCnt, UCalibrationMarkSet::pixSize, UCalibrationMarkSet::posBarcode, UCalibrationMarkSet::rotBarcode, UCalibrationMark::rx, UCalibrationMark::ry, UPosition::set(), and UCalibrationComponents::toLog().

bool UCalibrationMarkSets::doEstimateCameraParametersBinary	(	UCamPar *	oldEstimate,
		bool	debug,
		unsigned long	setsToUse,
		bool	alsoFocalLength,
		bool	alsoK1,
		bool	alsoK2
	)

Do binary search in an attempt to find parameters,

References absf(), UCamPar::getPixelSize(), UCalibrationMark::ix, UCalibrationMark::iy, UCalibrationMarkSet::mark, UCalibrationMarkSet::markCnt, UCalibrationMarkSet::pixSize, UCalibrationMarkSet::posBarcode, UCalibrationMarkSet::rotBarcode, UCalibrationMark::rx, UCalibrationMark::ry, UPosition::set(), and UCalibrationComponents::toLog().

bool UCalibrationMarkSets::doEstimateCameraParametersCarpet	(	UCamPar *	oldEstimate,
		bool	debug
	)

Depricated method to find camera parameters (test all positions)

References UCalibrationMark::ix, UCalibrationMark::iy, UCalibrationMarkSet::mark, UCalibrationMarkSet::markCnt, UCalibrationMarkSet::pixSize, UCalibrationMarkSet::posBarcode, UCalibrationMarkSet::rotBarcode, UCalibrationMark::rx, UCalibrationMark::ry, UPosition::set(), and UCalibrationComponents::toLog().

float UCalibrationMarkSets::evaluatek1PixError	(	UCalibrationMarkSet *	cset[],
		unsigned int	sets_used,
		const float	hx,
		const float	hy,
		const float	k1min,
		float	k1max,
		float *	k1e,
		int	steps1,
		const float	k2min,
		float	k2max,
		float *	k2e,
		int	steps2,
		const float	c,
		float	pixSize,
		bool	alsoK1,
		bool	alsoK2
	)

private

Estimate k1 and k2 parameters within the provided limits using binary search. Returns pixel error on best estimate and estimated parameters in 'k1e' and 'k2e' parameter.

References UCalibrationComponents::toLog().

float UCalibrationMarkSets::evaluatek2PixError	(	UCalibrationMarkSet *	cset[],
		unsigned int	sets_used,
		const float	hx,
		const float	hy,
		const float	k1,
		const float	k2min,
		float	k2max,
		float *	k2e,
		int	steps,
		const float	c,
		float	pixSize,
		bool	alsoK2
	)

private

Estimate k2 parameter within the provided limits using a binary search. Returns pixel error on best estimate and estimated parameter in 'k2e' parameter.

float UCalibrationMarkSets::evaluatePixError	(	UCalibrationMarkSet *	cset[],
		unsigned int	sets_used,
		const float	hx,
		const float	hy,
		const float	k1,
		const float	k2,
		const float	c,
		float	pixSize
	)

private

Evaluate position and rotation of each guidemark with this set of parameters and return the average pixel error.

References UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::geterrorInPixels(), UCalibrationMarkSet::posBarcode, and UCalibrationMarkSet::rotBarcode.

UPosition UCalibrationMarkSets::getCalibrationChartPosition ( )

inline

Get calibration chart position

UCamPar* UCalibrationMarkSets::getCamPar ( )

inline

Get pointer to camera parameters used in estimation process.

References UCalibXYStat::clear().

UCalibrationMarkSet * UCalibrationMarkSets::getNewSet ( )

Get new calibration mark set - if any more space.

References UCalibrationMarkSet::clear(), MAX_CALIBRATION_SETS_SAVED, and mini().

int UCalibrationMarkSets::getSavedSets ( )

Get number of (valid) saved sets

UCalibrationMarkSet * UCalibrationMarkSets::getSet ( int setNumber )

Get pointer to calibration set. Returns NULL if not within range present count.

UCalibrationMarkSet * UCalibrationMarkSets::getThisSet	(	unsigned int	codeValue,
		int	nth
	)

Get a pointer to the n'th set with this barcode value. first set with this code has number 0. Returns NULL if it do not exist.

bool UCalibrationMarkSets::saveNewSet ( UCalibrationMarkSet * frameSet )

Save this barcode position set for later camera parameter estimation purpose. If no more space for sets or set is not valid, then return false.

References UCalibrationMarkSet::barcodeValid, and UCalibrationMarkSet::valid.

void UCalibrationMarkSets::setCalibrationChartPosition ( UPosition newChartPos )

inline

Set new calibration chart position

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

inline

Set camera parameters

void UCalibrationMarkSets::setCameraParameters ( UCamPar * camPar )

inline

Set camera parameters from copy

void UCalibrationMarkSets::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 toLogGmk().

Member Data Documentation

UPosition UCalibrationMarkSets::chartPos

private

Known position of the calibration chart. for camera position evaluation Set from configuration file, or manually.

UCamParEst UCalibrationMarkSets::estCamPar

private

Estimated camera internal parameters.

UCalibrationMarkSet UCalibrationMarkSets::set[MAX_CALIBRATION_SETS_SAVED]

private

One set of calibration marks for each (possible) camera device.

int UCalibrationMarkSets::setCnt

private

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation