#include <ucalibrate.h>

Public Member Functions
void	clear ()

bool	evaluateChartPosRot (UPosition initialChartPos, URotation initialChartRot, double stopLimDist, double stopLimRot, UCamPar *camp, bool adjRadial, bool makeLogfile)

bool	evaluateChartPosRot (UPosition initialChartPos, URotation initialChartRot, double stopLimDist, double stopLimRot, UCamPar camp, bool adjRadial, FILE f)

bool	evaluatePosRot (const char params, UCamPar camp, UPosition oldPos, URotation oldRot, UPosition *chartP, bool makeLogfile)

double	getErrDist ()

double	getErrorInPixels (UCalibrationMark thisMark, float cx, float cy, UCamPar camp, bool radErrAdj)

double	geterrorInPixels (UPosition chartPos, URotation chartRot, UPosition camPos, URotation camRot, int markDist, UCamPar camp, double variance, bool adjRadial)

double	getErrPix ()

double	getErrRot ()

double	getStopLimitAngle ()

double	getStopLimitDistance ()

bool	info (int cam)

bool	saveMarksToFile (const char filename[], bool radialErrorRemoved, UCamPar *cam, int imageNumber)

bool	setFramePositions (int fw, float stride, char order[], char fwd[], float AX[], float AY[], float BX[], float BY[], float CX[], float CY[], float DX[], float DY[])

void	setStopLimit (double distance, double angle)

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

	UCalibrationMarkSet ()

Public Attributes
unsigned long	barcode

int	barcodeSetNum

bool	barcodeValid

bool	calValid

bool	implemented

UCalibrationMark	mark [MAX_FRAME_POSITIONS]

int	markCnt

float	pixSize

UPosition	posBarcode

UPosition	posCal

URotation	rotBarcode

URotation	rotCal

bool	valid

Private Member Functions
bool	setBarcodePosRowSet (UMatrixBig B, UMatrixBig K, int r, UCamPar camp, bool adjRadial, UPosition chartPos0, URotation chartRot0, UCalibrationMark pkt)

bool	setCameraPosRowSet (const char params, UMatrixBig B, UMatrixBig K, int r, double hx, double hy, double c, UPosition camPos0, URotation camRot0, UCalibrationMark pkt, UPosition *chartPos)

Private Attributes
double	errDist

double	errDistStopLimit

double	errEpix

double	errRot

double	errRotStopLimit

int	loops

Detailed Description

Class to hold positions of all frame corners in a barcode frame. These corners are used as calibration marks. Calibration marks are used to:

Calculate camera position and orientation if barcode position is known.
Calculate barcode position if camera position is known.
Calculate camera intrinsic parameters.

Constructor & Destructor Documentation

UCalibrationMarkSet::UCalibrationMarkSet ( )

Constructor

Member Function Documentation

void UCalibrationMarkSet::clear ( void )

Set all data as invalid.

Referenced by UCalibrationMarkSets::getNewSet().

bool UCalibrationMarkSet::evaluateChartPosRot	(	UPosition *	initialChartPos,
		URotation *	initialChartRot,
		double	stopLimDist,
		double	stopLimRot,
		UCamPar *	camp,
		bool	adjRadial,
		bool	makeLogfile
	)

Estimats a barcode position and rotation relative to the camera. If the initial position and rotation is known this is used as the initial vale. If no initial or expected position is given (set to NULL), then a serach will be performed in all 4 quadrants (+/- Phi and +/- Omega) to ensure that the real optimum is found. The stop limit in distance and rotation is the 3D change in position in last iteration, if both these are below the stop limits then the parameter estimation stops.
If 'adjRadial' then pixel positions is assumed distorted and is adjusted acccording to value of K1, K2 and head point found in camera parameters 'camp'.
The actual work is done in 'evaluateChartPosRot(-,-,-,-,logfile)'

References absd(), dataPath, UTime::GetHour(), UTime::GetJustSec(), UTime::GetMin(), UCamPar::getPixelSize(), URotation::Kappa, mind(), UTime::Now(), URotation::Omega, URotation::Phi, UCalibrationComponents::toLog(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UCalibrationMarkSets::doEstimateCameraParameters(), UCalibrationMarkSets::evaluatePixError(), and UCalibrate::findBarcodeChartPosition().

bool UCalibrationMarkSet::evaluateChartPosRot	(	UPosition *	initialChartPos,
		URotation *	initialChartRot,
		double	stopLimDist,
		double	stopLimRot,
		UCamPar *	camp,
		bool	adjRadial,
		FILE *	f
	)

Performs the above functions and report iteration results in file f, if this is != NULL.

References UCalibrationMark::col, UPosition::copy(), UPosition::dist(), UMatrix::get(), UCalibrationMark::ix, UCalibrationMark::iy, URotation::Kappa, URotation::Omega, URotation::Phi, UCalibrationMark::row, UCalibrationMark::rx, UCalibrationMark::ry, UMatrix::save(), URotation::scale(), UPosition::set(), URotation::set(), UMatrix::setSize(), UMatrix::solve(), UPosition::sprint(), URotation::sprint(), UPosition::subtract(), URotation::subtract(), UCalibrationComponents::toLog(), UPosition::x, UPosition::y, and UPosition::z.

bool UCalibrationMarkSet::evaluatePosRot	(	const char *	params,
		UCamPar *	camp,
		UPosition *	oldPos,
		URotation *	oldRot,
		UPosition *	chartP,
		bool	makeLogfile
	)

Try use the calibration marks to calculate new position and rotation parameters.
Takes a parameter string of the form "xyzOPK" for all 6 parameters or a subset, e.g. "xy" to evaluate an estimate for x and y only. The 'chartP' must be the known position of the calibration chart. The chart must be vertical and facing the camera. the iteration continues for up to 50 loops or until distance error is less than 'errStopLimit'.
Returns 0 if seccessfull, and the new parameters in posCal and rotCal (and calValid will be true, and loops be the number of iterations to find solution).

References UPosition::copy(), dataPath, UPosition::dist(), UMatrix::get(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), URotation::Kappa, URotation::Omega, URotation::Phi, URotation::set(), UMatrix::setSize(), UMatrix::solve(), UPosition::sprint(), URotation::sprint(), UPosition::subtract(), URotation::subtract(), UCalibrationComponents::toLog(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UCalibrate::findCameraPosition().

double UCalibrationMarkSet::getErrDist ( )

inline

Get finishing error distance change for x,y,z

double UCalibrationMarkSet::getErrorInPixels	(	UCalibrationMark *	thisMark,
		float *	cx,
		float *	cy,
		UCamPar *	camp,
		bool	radErrAdj
	)

Get distance from expected pixel position to actual pixel position.
Guidemark corner is at (rx,ry)[meter] in this mark, and is converted to pixel coordinates using pos- and rotBarcode and camera info to get to pixel coordinates. From this difference is calculated.
NB! expects that pos- and rotBarcode is in camera coordinates.
Returns distance in pixels and calculated position in (cx,cy).

References UMatrix::err, UMatrix::expand(), UMatrix::get(), UCamPar::getItoP(), UCamPar::getRadialU2D(), UCalibrationMark::ix, UCalibrationMark::iy, UCalibrationMark::rx, UCalibrationMark::ry, and UMatrix::set().

Referenced by UCalibrate::findBarcodeChartPosition().

double UCalibrationMarkSet::geterrorInPixels	(	UPosition *	chartPos,
		URotation *	chartRot,
		UPosition *	camPos,
		URotation *	camRot,
		int	markDist,
		UCamPar *	camp,
		double *	variance,
		bool	adjRadial
	)

Calculate average pixel position error by transferring real chart position to image pixel position using the values in the markSet and the transformations in the following values, i.e.: Xpix = b * P * Pcam * Ocam * Kcam * Tcam * Tbar^-1 * Pbar' * Obar' * Kbar' * Xbar.
If 'markDist' is 1, then all points are used else only [0, markDist, ... n* markDist], for n = 1,2,3... until no more marks. b and P is taken from cam->mb and cam->mP as mItoP.
if 'adjRadial' then radial correction is applied to pixel coordinates.
Returns -1.0 if error.

References URotation::asMatrix4x4CtoW(), URotation::asMatrix4x4WtoC(), UMatrix::err, UMatrix::expand(), UMatrix::get(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getItoP(), UCamPar::getK1(), UCamPar::getK2(), UCamPar::getRadialU2D(), URotation::Kappa, URotation::Omega, URotation::Phi, UMatrix::set(), UMatrix::snprint(), sqr(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UCalibrationMarkSets::doEstimateCameraParameters(), and UCalibrationMarkSets::evaluatePixError().

double UCalibrationMarkSet::getErrPix ( )

inline

Get finishing error in pixels (absolute)

double UCalibrationMarkSet::getErrRot ( )

inline

Get finishing error angle change - combination of omega, phi and kappa

double UCalibrationMarkSet::getStopLimitAngle ( )

inline

Get current error angle that stops iteration (in connection with distance stop limit).

double UCalibrationMarkSet::getStopLimitDistance ( )

inline

Get current error distance that stops iteration (in connection with angle stop limit).

bool UCalibrationMarkSet::info ( int cam )

Show calibration status as info.

References UCalibrationComponents::toLog().

Referenced by UCalibrate::ShowStatus().

bool UCalibrationMarkSet::saveMarksToFile	(	const char	filename[],
		bool	radialErrorRemoved,
		UCamPar *	cam,
		int	imageNumber
	)

Save mark positions to file If no filename is provided (is NULL) then a name is constructed 'image999calib.m' on data path with 999 beeing the provided image number.

References dataPath, UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), UCamPar::getPixelSize(), imagePath, and UCalibrationComponents::toLog().

bool UCalibrationMarkSet::setBarcodePosRowSet	(	UMatrixBig *	B,
		UMatrixBig *	K,
		int	r,
		UCamPar *	camp,
		bool	adjRadial,
		UPosition *	chartPos0,
		URotation *	chartRot0,
		UCalibrationMark *	pkt
	)

private

Set values in B matrix and K vector before least square calculation for rows r and r+1 for the parameters mentioned in params from:
camera constants headpoint hx and hy and focus length c,
initial estimate of barchart position and rotation (chartPos0 and chartRot0),
one calibration mark with object and pixel position (pkt),
Returns true if focus length is > 0.

References UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getRadialD2U(), UCalibrationMark::ix, UCalibrationMark::iy, URotation::Kappa, UMatrix::maxSize(), URotation::Omega, URotation::Phi, UCalibrationMark::rx, UCalibrationMark::ry, UMatrix::setRC(), UPosition::x, UPosition::y, and UPosition::z.

bool UCalibrationMarkSet::setCameraPosRowSet	(	const char *	params,
		UMatrixBig *	B,
		UMatrixBig *	K,
		int	r,
		double	hx,
		double	hy,
		double	c,
		UPosition *	camPos0,
		URotation *	camRot0,
		UCalibrationMark *	pkt,
		UPosition *	chartPos
	)

private

Set values in B matrix and K vector before least square calculation for rows r and r+1 for the parameters mentioned in params from:
camera constants headpoint hx and hy and focus length c,
initial estimate of camera position and rotation (camPos0 and camRot0),
one calibration mark with object and pixel position (pkt),
The base position of the chart, NB chart must be perpendicular to robot main Z axis e.g. parallel to world Y and X axis.
Returns true if focus length is > 0.

References UCalibrationMark::ix, UCalibrationMark::iy, URotation::Kappa, UMatrix::maxSize(), URotation::Omega, URotation::Phi, UCalibrationMark::rx, UCalibrationMark::ry, UMatrix::setRC(), UPosition::x, UPosition::y, and UPosition::z.

bool UCalibrationMarkSet::setFramePositions	(	int	fw,
		float	stride,
		char	order[],
		char	fwd[],
		float	AX[],
		float	AY[],
		float	BX[],
		float	BY[],
		float	CX[],
		float	CY[],
		float	DX[],
		float	DY[]
	)

Set position of each frame position in a fw x fw squared frame. The side size is 'stride' meter. and an array of X and Y positions are provided as parameter for side A, B, C, D. The side order is in 'order[]'. if the corresponding entry in 'fwd[]' is 't' (true) array element [0] is the first in clockwise direction; if false, then element [fw] is the first.

References MAX_FRAME_POSITIONS.

Referenced by UCalibrationComponents::doMakeCodeGrid().

void UCalibrationMarkSet::setStopLimit	(	double	distance,
		double	angle
	)

inline

Set evaluation stop limits in distance and angle. Iteration stops if error change between two iterations is below thise limits.

Referenced by UCalibrate::findCameraPosition().

void UCalibrationMarkSet::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().