MirrorCalibTool Class Reference

This class encapsulates the routines necessary for interactive mirror calibration. More...

#include <tools/firestation/mirror_calib.h>

List of all members.


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.

Detailed Description

This class encapsulates the routines necessary for interactive mirror calibration.

Definition at line 35 of file mirror_calib.h.

Constructor & Destructor Documentation

MirrorCalibTool::MirrorCalibTool (  ) 

Constructor.

Definition at line 49 of file mirror_calib.cpp.

MirrorCalibTool::MirrorCalibTool ( unsigned int  width,
unsigned int  height 
)

Constructor.

Parameters:
width image width
height image height

Definition at line 74 of file mirror_calib.cpp.

MirrorCalibTool::~MirrorCalibTool (  ) 

Destructor.

Definition at line 97 of file mirror_calib.cpp.

Member Function Documentation

void MirrorCalibTool::abort (  ) 

Aborts the calibration process.

Definition at line 126 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.

Parameters:
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 256 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 316 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.

Parameters:
dist distance to the next calibration point
ori relative orientation towards the next calibration point
Returns:
true if the next calibration point can be determined

Definition at line 197 of file mirror_calib.cpp.

References fawkes::rad2deg().

void MirrorCalibTool::load ( const char *  filename  ) 

Loads a calibration file.

Parameters:
filename name of the file containing the calibration data

Definition at line 224 of file mirror_calib.cpp.

void MirrorCalibTool::save ( const char *  filename  ) 

Saves calibration data to a file.

Parameters:
filename the nem of the file

Definition at line 235 of file mirror_calib.cpp.

void MirrorCalibTool::set_dists ( float  dists[],
unsigned int  num_dists 
)

Setter routine for the distances used for calibration.

Parameters:
dists array of distances
num_dists number of distances

Definition at line 283 of file mirror_calib.cpp.

void MirrorCalibTool::set_img_dimensions ( unsigned int  width,
unsigned int  height 
)

Setter routine for the image dimensions.

Parameters:
width image width
height image height

Definition at line 272 of file mirror_calib.cpp.

void MirrorCalibTool::set_oris ( float  oris[],
unsigned int  num_oris 
)

Setter routine for the orientations used for calibration.

Parameters:
oris array of orientations
num_oris number of orientations

Definition at line 293 of file mirror_calib.cpp.

void MirrorCalibTool::setProgress ( unsigned int  progress  ) 

Set progress.

Parameters:
progress current progress

Definition at line 310 of file mirror_calib.cpp.

void MirrorCalibTool::setTotalSteps ( unsigned int  total_steps  ) 

Set total steps.

Parameters:
total_steps total number of steps

Definition at line 302 of file mirror_calib.cpp.

void MirrorCalibTool::start (  ) 

Inititates the calibration process.

Definition at line 108 of file mirror_calib.cpp.

void MirrorCalibTool::step ( unsigned int  x,
unsigned int  y 
)

Do one step in the calibration process.

Parameters:
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 138 of file mirror_calib.cpp.

References fawkes::Exception::print_trace(), fawkes::rad2deg(), fawkes::HomCoord::rotate_z(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().

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