CalibImage.h
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00001 // -*- c++ -*-
00002 // Copyright 2008 Isis Innovation Limited
00003 
00004 #ifndef __CALIB_IMAGE_H
00005 #define __CALIB_IMAGE_H
00006 #include "ATANCamera.h"
00007 #include "CalibCornerPatch.h"
00008 #include <vector>
00009 #include <TooN/se3.h>
00010 #include <ros/ros.h>
00011 #include <ros/package.h>
00012 
00013 const int N_NOT_TRIED=-1;
00014 const int N_FAILED=-2;
00015 
00016 struct CalibGridCorner
00017 {
00018   struct NeighborState
00019   {
00020     NeighborState() {val = N_NOT_TRIED;}
00021     int val;
00022   };
00023 
00024   CalibCornerPatch::Params Params;
00025   CVD::ImageRef irGridPos;
00026   NeighborState aNeighborStates[4];
00027 
00028   Matrix<2> GetSteps(std::vector<CalibGridCorner> &vgc); 
00029   Matrix<2> mInheritedSteps;
00030 
00031   void Draw();
00032 
00033   double ExpansionPotential();
00034 };
00035 
00036 class CalibImage
00037 {
00038 public:
00039 
00040   bool MakeFromImage(CVD::Image<CVD::byte> &im);
00041   SE3<> mse3CamFromWorld;
00042   void DrawImageGrid();
00043   void Draw3DGrid(ATANCamera &Camera, bool bDrawErrors);
00044   void GuessInitialPose(ATANCamera &Camera);
00045 
00046   struct ErrorAndJacobians
00047   {
00048     Vector<2> v2Error;
00049     Matrix<2,6> m26PoseJac;
00050     Matrix<2,NUMTRACKERCAMPARAMETERS> m2NCameraJac;
00051   };
00052 
00053   std::vector<ErrorAndJacobians> Project(ATANCamera &Camera);
00054 
00055   CVD::Image<CVD::byte> mim;
00056 
00057 protected:
00058   std::vector<CVD::ImageRef> mvCorners;
00059   std::vector<CalibGridCorner> mvGridCorners;
00060 
00061 
00062   bool ExpandByAngle(int nSrc, int nDirn);
00063   int NextToExpand();
00064   void ExpandByStep(int n);
00065   CVD::ImageRef IR_from_dirn(int nDirn);
00066 
00067 };
00068 
00069 
00070 
00071 
00072 #endif
00073 


ptam
Author(s): Markus Achtelik , Stephan Weiss , Simon Lynen
autogenerated on Sun Oct 5 2014 23:52:33