MirrorCalibTool Class Reference

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

#include <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.

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Detailed Description

This class encapsulates the routines necessary for interactive mirror calibration.

Definition at line 37 of file mirror_calib.h.

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Constructor & Destructor Documentation

MirrorCalibTool::MirrorCalibTool

(

)

Constructor.

Definition at line 52 of file mirror_calib.cpp.

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

Constructor.

Parameters:

	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.

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Member Function Documentation

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.

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 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.

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 200 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 227 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 238 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 286 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 275 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 296 of file mirror_calib.cpp.

void MirrorCalibTool::setProgress

(

unsigned int

progress

)

Set progress.

Parameters:

progress

current progress

Definition at line 313 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 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.

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 141 of file mirror_calib.cpp.

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

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

• src/firevision/tools/firestation/mirror_calib.h
• src/firevision/tools/firestation/mirror_calib.cpp