#include <ucampar.h>

Inheritance diagram for UCamPar:

Public Member Functions
UMatrix4	getCtoPRob ()

URPos	getCtoPRob (UPosition pos3D)

float	getFocalLength ()

float	getHx ()

float	getHy ()

UMatrix4 *	getItoP ()

float	getK1 ()

float	getK2 ()

float	getPixelSize ()

UPosition	getPtoCRob (int x, int y, float distance)

UPosition	getPtoCRob (float x, float y, float distance)

bool	getRadialD2U (float xu, float yu, float xd, float yd)

bool	getRadialU2D (float xu, float yu, float xd, float yd)

void	invalidate ()

bool	isValid ()

void	print (const char *prestring)

bool	savePar (Uconfig ini, const char key)

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

bool	setCameraParameters (UCamPar *source)

bool	setCameraParameters (Uconfig ini, const char key)

bool	setPixelSize (float pixSize)

int	snprint (const char preString, char dest, const int maxLength)

	UCamPar ()

	~UCamPar ()

Public Attributes
bool	parValid

Protected Member Functions
bool	setMatrices (void)

Protected Attributes
float	focalLength

float	headX

float	headY

UMatrix4	mb

UMatrix4	mCtoPRob

UMatrix4	mItoP

UMatrix4	mP

float	radialK1

float	radialK2

float	resFactor

Detailed Description

The class holds camera parameters and functions related to the inner orientation of a camera. This includes radial error and fical length. Further is matrices for projecting from 3D to image coordinates and conversion to image coordinates included.

Author: Christian Andersen

Constructor & Destructor Documentation

UCamPar::UCamPar ( )

Constructor

References focalLength, headX, headY, parValid, radialK1, radialK2, and resFactor.

UCamPar::~UCamPar ( )

Destructor

Member Function Documentation

UMatrix4 UCamPar::getCtoPRob ( )

Get conversion matrix from a 3d camera coordinate to image pixel position, where the camera coordinates are oriented as robot coordinates (z is up).

References mItoP, and UMatrix::setRow().

Referenced by UImgPolyProj::getFloorToPix(), UImgProj::getFloorToPix(), getItoP(), UCamMounted::getMtoPix(), setMatrices(), and testCamPar().

URPos UCamPar::getCtoPRob ( UPosition pos3D )

Convert a 3D position to pixel position. 3D position is in camera coordinates using robot coordinate system (x forward, y left z up).

References absd(), focalLength, headX, headY, resFactor, URPos::x, UPosition::x, URPos::y, UPosition::y, and UPosition::z.

float UCamPar::getFocalLength ( )

inline

float UCamPar::getHx ( )

inline

float UCamPar::getHy ( )

inline

UMatrix4* UCamPar::getItoP ( )

inline

Get matrix for conversion from image to pixel coordinates.

References getCtoPRob(), getPtoCRob(), mItoP, print(), savePar(), setCameraParameters(), setMatrices(), and snprint().

Referenced by UCalibrationMarkSet::getErrorInPixels(), UCalibrationMarkSet::geterrorInPixels(), and UCalibrationComponents::PaintChartInImage().

float UCamPar::getK1 ( )

inline

Get radial distorsion value proportional to radius from center point in 3rd power. Value relates to max camera resolution.

References radialK1.

Referenced by UCalibrationMarkSet::geterrorInPixels(), UCamRad::lensParChanged(), UFuncPiCam::run(), UCalibrationMarkSet::saveMarksToFile(), UCamRad::saveRadialCorrectionMatrix(), UComCamSml::setCamDevice(), setCameraParameters(), UCamParEst::setEstMatrix(), UCamParEst::setEstMatrix35(), UComCamSml::setFromCam(), and UCamRad::updateLensParams().

float UCamPar::getK2 ( )

inline

Get radial distorsion value proportional to radius from center point in 5rd power. Value relates to max camera resolution.

References radialK2.

Referenced by UCalibrationMarkSet::geterrorInPixels(), UCamRad::lensParChanged(), UFuncPiCam::run(), UCalibrationMarkSet::saveMarksToFile(), UCamRad::saveRadialCorrectionMatrix(), UComCamSml::setCamDevice(), setCameraParameters(), UCamParEst::setEstMatrix(), UCamParEst::setEstMatrix35(), UComCamSml::setFromCam(), and UCamRad::updateLensParams().

float UCamPar::getPixelSize ( )

inline

Get size of one pixel relative to max resolution. Max resolution is normally 640x480, so pixSize of 4 corresponds to 160x120 pixels.

References resFactor, and setPixelSize().

Referenced by UCalibrationMarkSets::doEstimateCameraParametersBinary(), UCalibrationMarkSet::evaluateChartPosRot(), UCamRad::removeRadialError(), UCalibrationMarkSet::saveMarksToFile(), UCamRad::saveRadialCorrectionMatrix(), setCameraParameters(), and UCamRad::setRadialErrorMatrix().

UPosition UCamPar::getPtoCRob	(	int	x,
		int	y,
		float	distance
	)

Convert pixel position to 3D position with this distance (x) coordinate 3D position is in robot coordinates system (x forward, y left and z up), by oriented as camera.

References focalLength, headX, headY, resFactor, UPosition::x, UPosition::y, and UPosition::z.

Referenced by getItoP(), UImgPolyProj::getPixToRobFloor(), UImgProj::getPixToRobFloor(), UClientFuncLaserGui::getPixToRobFloor(), UNavPaint::paintCams(), and testCamPar().

UPosition UCamPar::getPtoCRob	(	float	x,
		float	y,
		float	distance
	)

Convert pixel position to 3D position with this distance (x) coordinate 3D position is in robot coordinates system (x forward, y left and z up), by oriented as camera.

References focalLength, headX, headY, resFactor, UPosition::x, UPosition::y, and UPosition::z.

bool UCamPar::getRadialD2U	(	float	xu,
		float	yu,
		float *	xd,
		float *	yd
	)

From an image position in a distorted {xd,yd} image to a pixel position in the undistorted image {xu,yu} with these camera parameters. Res factor is size of pixels relative to resolution where camera parameters are valid.

typical 1, 2, 4 for (640x480, 320x240, 160x120)

References headX, headY, radialK1, radialK2, and resFactor.

Referenced by UImgPolyProj::doProjectPolygonToFloorReal(), UImgProj::doProjectPolygonToFloorReal(), getRadialU2D(), isValid(), and UCalibrationMarkSet::setBarcodePosRowSet().

bool UCamPar::getRadialU2D	(	float	xu,
		float	yu,
		float *	xd,
		float *	yd
	)

From an undistorted pixel position {xu,yu} to the cooresponding distorted the pixel value {xd, yd}. Res factor is size of pixels relative to resolution where camera parameters are valid.

typical 1, 2, 4 for (640x480, 320x240, 160x120)

References absf(), getRadialD2U(), headX, headY, and resFactor.

Referenced by UCalibrationMarkSet::getErrorInPixels(), UCalibrationMarkSet::geterrorInPixels(), UCamMounted::getMtoPix(), UCamRad::getRadialU2DOffset(), and isValid().

void UCamPar::invalidate ( )

inline

Invalidate information

References parValid.

Referenced by UImgPolyProj::UImgPolyProj(), and UImgProj::UImgProj().

bool UCamPar::isValid ( )

inline

Is parameters valid

References getRadialD2U(), getRadialU2D(), parValid, and setCameraParameters().

Referenced by UImgPolyProj::doProject(), UImgProj::doProject(), UCamRad::removeRadialError(), and UComCamSml::setFromCam().

void UCamPar::print ( const char * prestring )

Print most of values to console (debug)

References bool2str(), focalLength, headX, headY, mb, mCtoPRob, mItoP, mP, parValid, UMatrix::print(), radialK1, radialK2, and resFactor.

Referenced by getItoP(), and testCamPar().

bool UCamPar::savePar	(	Uconfig *	ini,
		const char *	key
	)

Save camera parameters to this configuration file under this key name

References Uconfig::doublePut(), focalLength, headX, headY, radialK1, and radialK2.

Referenced by getItoP().

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

Set all camera parameters in one call hx, hy, k1, k2, focal-length are all as found for a 640x480 image. pixelSize is for actual image releative to 640x480. ix 320x240 has pixel size 2. Returns true if set.

References focalLength, headX, headY, parValid, radialK1, radialK2, resFactor, and setMatrices().

Referenced by getItoP(), UClientFuncLaserGui::getPixToRobFloor(), isValid(), setCameraParameters(), UCamRad::setCameraParameters(), testCamPar(), and UCamRad::updateLensParams().

bool UCamPar::setCameraParameters ( UCamPar * source )

Copy parameters from other set of parameters.

References getFocalLength(), getHx(), getHy(), getK1(), getK2(), getPixelSize(), and setCameraParameters().

bool UCamPar::setCameraParameters	(	Uconfig *	ini,
		const char *	key
	)

Set camera parameters from 'ini' configuration file under this 'key'.

References Uconfig::doubleGet(), focalLength, headX, headY, radialK1, radialK2, resFactor, and setCameraParameters().

bool UCamPar::setMatrices ( void )

protected

Set conversion matrices after change in parameters.

References focalLength, getCtoPRob(), headX, headY, UMatrix::init(), mb, mCtoPRob, mItoP, mP, resFactor, and UMatrix::setRC().

Referenced by getItoP(), UClientCamData::handleCamGet(), setCameraParameters(), and setPixelSize().

bool UCamPar::setPixelSize ( float pixSize )

Set size of one pixel relative to max resolution. Max resolution is normally 640x480, so pixSize of 4 corresponds to 160x120 pixels.

NB! depricatede - set to 1 always

References resFactor, and setMatrices().

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), getPixelSize(), UCamRad::imageSizeChanged(), UComCamSml::setCamDevice(), UCamRad::setRadialErrorMatrix(), and testCamPar().

int UCamPar::snprint	(	const char *	preString,
		char *	dest,
		const int	maxLength
	)

Print camera parameters to the destination string with 'preString' in front of test. (format suited for console display). 'maxLength' is length of 'dest' buffer. Returns length of produced string.

References focalLength, headX, headY, radialK1, and radialK2.

Referenced by getItoP(), and UClientCamData::snprint().