This class encapsulates the routines necessary for interactive mirror calibration. More...
#include "mirror_calib.h"
Public Member Functions | |
MirrorCalibTool () | |
Constructor. | |
MirrorCalibTool (unsigned int img_width, unsigned int img_height) | |
Constructor. | |
~MirrorCalibTool () | |
Destructor. | |
void | start () |
Inititates the calibration process. | |
void | abort () |
Aborts the calibration process. | |
void | step (unsigned int x, unsigned int y) |
Do one step in the calibration process. | |
bool | get_next (float *dist, float *ori) |
Returns the world coordinates of the next calibration point in polar coordinates. | |
void | eval (unsigned int x, unsigned int y, float *x_ret, float *y_ret) |
Determines the world coordinates for the given image point. | |
void | load (const char *filename) |
Loads a calibration file. | |
void | save (const char *filename) |
Saves calibration data to a file. | |
void | set_img_dimensions (unsigned int width, unsigned int height) |
Setter routine for the image dimensions. | |
void | set_dists (float dists[], unsigned int num_dists) |
Setter routine for the distances used for calibration. | |
void | set_oris (float oris[], unsigned int num_oris) |
Setter routine for the orientations used for calibration. | |
void | setTotalSteps (unsigned int total_steps) |
Set total steps. | |
void | setProgress (unsigned int progress) |
Set progress. | |
void | finished () |
Generation finished. |
This class encapsulates the routines necessary for interactive mirror calibration.
Definition at line 37 of file mirror_calib.h.
MirrorCalibTool::MirrorCalibTool | ( | ) |
Constructor.
Definition at line 52 of file mirror_calib.cpp.
MirrorCalibTool::MirrorCalibTool | ( | unsigned int | width, | |
unsigned int | height | |||
) |
Constructor.
width | image width | |
height | image height |
Definition at line 77 of file mirror_calib.cpp.
MirrorCalibTool::~MirrorCalibTool | ( | ) |
Destructor.
Definition at line 100 of file mirror_calib.cpp.
void MirrorCalibTool::abort | ( | ) |
Aborts the calibration process.
Definition at line 129 of file mirror_calib.cpp.
void MirrorCalibTool::eval | ( | unsigned int | x, | |
unsigned int | y, | |||
float * | dist_ret, | |||
float * | ori_ret | |||
) |
Determines the world coordinates for the given image point.
x | x-coordinate of the image point | |
y | y-coordinate of the image point | |
dist_ret | pointer to the relative distance of the world point | |
ori_ret | pointer to the relative orientation of the world point |
Definition at line 259 of file mirror_calib.cpp.
References fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.
void MirrorCalibTool::finished | ( | ) |
Generation finished.
Definition at line 319 of file mirror_calib.cpp.
bool MirrorCalibTool::get_next | ( | float * | dist, | |
float * | ori | |||
) |
Returns the world coordinates of the next calibration point in polar coordinates.
dist | distance to the next calibration point | |
ori | relative orientation towards the next calibration point |
Definition at line 200 of file mirror_calib.cpp.
References fawkes::rad2deg().
void MirrorCalibTool::load | ( | const char * | filename | ) |
Loads a calibration file.
filename | name of the file containing the calibration data |
Definition at line 227 of file mirror_calib.cpp.
void MirrorCalibTool::save | ( | const char * | filename | ) |
Saves calibration data to a file.
filename | the nem of the file |
Definition at line 238 of file mirror_calib.cpp.
void MirrorCalibTool::set_dists | ( | float | dists[], | |
unsigned int | num_dists | |||
) |
Setter routine for the distances used for calibration.
dists | array of distances | |
num_dists | number of distances |
Definition at line 286 of file mirror_calib.cpp.
void MirrorCalibTool::set_img_dimensions | ( | unsigned int | width, | |
unsigned int | height | |||
) |
Setter routine for the image dimensions.
width | image width | |
height | image height |
Definition at line 275 of file mirror_calib.cpp.
void MirrorCalibTool::set_oris | ( | float | oris[], | |
unsigned int | num_oris | |||
) |
Setter routine for the orientations used for calibration.
oris | array of orientations | |
num_oris | number of orientations |
Definition at line 296 of file mirror_calib.cpp.
void MirrorCalibTool::setProgress | ( | unsigned int | progress | ) |
Set progress.
progress | current progress |
Definition at line 313 of file mirror_calib.cpp.
void MirrorCalibTool::setTotalSteps | ( | unsigned int | total_steps | ) |
Set total steps.
total_steps | total number of steps |
Definition at line 305 of file mirror_calib.cpp.
void MirrorCalibTool::start | ( | ) |
Inititates the calibration process.
Definition at line 111 of file mirror_calib.cpp.
void MirrorCalibTool::step | ( | unsigned int | x, | |
unsigned int | y | |||
) |
Do one step in the calibration process.
x | the x-coordinate of the of the current calibration point | |
y | the y-coordinate of the of the current calibration point |
Definition at line 141 of file mirror_calib.cpp.
References fawkes::Exception::print_trace(), fawkes::rad2deg(), fawkes::HomCoord::rotate_z(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().