Methods to perform a camera calibration. More...

Functions
RXLF_API void	Rx::ApiLF::RxMetricCalibAddBoundImage (unsigned &nObjectId)
	Add the currently bound image to metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibApplyCalibrationToBoundImage ()
	Apply the computed metric calibration to a newly bound image. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibEvaluatePointSpaceCoverage (CRxArrayDouble &aAreaCovered)
	Evaluate the metric calibration data set. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibExecute (Rx::ApiLF::EMetricCalibResult::ID &eResult, bool bCalibrateAfterInit=true)
	Performs the metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibFinalize ()
	Clears the metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibFindPoints (Rx::CRxImage &xRefocusedImage, Rx::CRxArray2DDouble &matPoints2D)
	Raytrix metric calib transform bound image to point model. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetAddImageResult (const unsigned uObjectId, Rx::CRxMetricCalibAddImageResult &smcAddObjectResult)
	Get result to an object id. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetAllObjectIds (CRxArrayUInt &aObjectIds)
	Get all valid object ids from the metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetModelsList (Rx::CRxArray2DDouble &matModelsList)
	Get the list of all models extracted from the added image. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetPointConnections (const unsigned uId, const EMetricCalibPointType::ID ePointType, Rx::CRxArray2DDouble &matLines)
	Get All point connections. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetPointEllipses (const unsigned uId, const EMetricCalibPointFilter::ID ePointFilter, const Rx::CRxImageFormat &xTargetImageFormat, Rx::CRxArray2DDouble &matPointEllipses)
	Get the list of specific point ellipses. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetPoints (const unsigned uId, const EMetricCalibPointFilter::ID ePointFilter, const EMetricCalibPointType::ID ePointType, Rx::CRxArray2DDouble &matPoints)
	Get specific points from the models. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetRefocusedImage (const unsigned uObjectId, Rx::CRxImage &xImage)
	Get the refocused image from the metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibGetResult (Rx::CRxMetricCalibResult &xMetricCalibResult)
	Evaluated the calibration result. That is, the error function of the calibration is executed once with the current parameter settings and mean residual, mean euclidean distance, min euclidean distance, max euclidean distance and the standard deviation. Note that this function also projects all test points of all test models to object space. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibInitialize (Rx::ApiLF::EMetricCalibrationType::ID eCalibrationType)
	Initialize metric calibration. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibLoadCalibration (const Rx::CRxString &sxFilename)
	Load a '.rxcalib' file from file system, containing a calibrated system. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibLoadPlanarModelData (const Rx::CRxString &sxFilename, CRxArrayUInt &aObjectIds)
	Load planar model data. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibProjectPointsIntoObjectSpace (const CRxArray2DDouble &matPoints2D, Rx::CRxImage &xDepthImage, CRxArray2DDouble &matPoints3D)
	Receive metric calib projection points into object space. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibRegisterCallbackFunctionWithMessageHandler (bool bRegister)
	Registers the callback function of the metric calibration to the api message handler. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibRemoveModelFromCalibrationSet (const unsigned nObjectId)
	Removes the models of the object given by its object id from the calibration set. Changes the result information related to this object id. You can receive the information of an object by calling Rx::ApiLF::RxMetricCalibGetAddImageResult. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibResetToNominal ()
	Reset the metric calibration to nominal values. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibSaveCalibration (const Rx::CRxString &sxFilename)
	Save the converged calibration result. More...

RXLF_API void	Rx::ApiLF::RxMetricCalibSavePlanarModelData (const Rx::CRxString &sxFilename)
	Save planar model to filesystem. More...

RXLF_API void	Rx::ApiLF::RxMlaCalibExecute (Rx::ApiLF::EMlaCalibResult::ID &eResult, bool bIgnoreImageQuality=true)
	Calibrate the micro lens image grid using white image from bound image. More...

RXLF_API void	Rx::ApiLF::RxMlaCalibGetGridData (Rx::CRxArrayDouble &aLensCenter, float &fLensRadius, int iLensType)
	Get the lens center positions of given type in pixel coordinates. The corresponding lensRadius is returned. More...

RXLF_API bool	Rx::ApiLF::RxMlaCalibParallelLightExecute ()
	Calibrate the MLA properties using a parallel light image. Calibration has to be augmented by a white-image calibration to be valid. More...

RXLF_API void	Rx::ApiLF::RxMlaCalibRegisterCallbackFunction (bool bActivate)
	Enables/Disables progress callback of Rx::ApiLF::RxMlaCalibExecute / Rx::ApiLF::RxMlaCalibParallelLightExecute. More...

Detailed Description

Methods to perform a camera calibration.

Function Documentation

RXLF_API void Rx::ApiLF::RxMetricCalibAddBoundImage ( unsigned & nObjectId )

Add the currently bound image to metric calibration.

The currently bound image is added to extract all planar models found in this image. Thereafter all test models are created from all extracted planar models. Afterwards the Test models are filtered for optimization reasons. The ID of the newly created object is returned in nObjectId

Precondition: An image must be bound before calling this function.

Parameters

[out] nObjectId The Id of the newly created object.

RXLF_API void Rx::ApiLF::RxMetricCalibApplyCalibrationToBoundImage ( )

Apply the computed metric calibration to a newly bound image.

RXLF_API void Rx::ApiLF::RxMetricCalibEvaluatePointSpaceCoverage ( CRxArrayDouble & aAreaCovered )

Evaluate the metric calibration data set.

Parameters

[in,out]

aAreaCovered

A vector containing the number of points in each area. The scene is divided into 12 parts and is sorted as follows

Index	Area
0	Left Down Front
1	Left Down Middle
2	Left Down Back
3	Left Up Front
4	Left Up Middle
5	Left Up Back
6	Right Down Front
7	Right Down Middle
8	Right Down Back
9	Right Up Front
10	Right Up Middle
11	Right Up Back

RXLF_API void Rx::ApiLF::RxMetricCalibExecute	(	Rx::ApiLF::EMetricCalibResult::ID &	eResult,
		bool	bCalibrateAfterInit = `true`
	)

Performs the metric calibration.

Precondition: An image must be bound before calling this function.

Attention

Associated Api Parameters:

Rx::ApiLF::EPar::MC_Enable_StoreRefocusedImage = Enable/Disable store the refocused image.
Rx::ApiLF::EPar::MC_Enable_PrinciplePlaneSeperation = Enable/Disable calibrate the principle plane separation
Rx::ApiLF::EPar::MC_Enable_OpticalAxis = Enable/Disable calibrate the optical axis
Rx::ApiLF::EPar::MC_Enable_PrinciplePoint = Enable/Disable calibrate the principle point position
Rx::ApiLF::EPar::MC_Enable_Dist_Center = Enable/Disable estimate the correct distortion center
Rx::ApiLF::EPar::MC_Enable_RadialPolyConst = Enable/Disable compute the constant parameter of the radial polynomial
Rx::ApiLF::EPar::MC_Enable_RadialPoly = Enable/Disable compute the other terms of the radial polynomial
Rx::ApiLF::EPar::MC_Enable_DepthPoly = Enable/Disable compute the depth polynomial
Rx::ApiLF::EPar::MC_Enable_AxialPoly = Enable/Disable compute the axial polynomial
Rx::ApiLF::EPar::MC_Enable_MLAToSensorDistance = Enable/Disable compute the mla to sensor distance
Rx::ApiLF::EPar::MC_Enable_MLALensTypeRatio = Enable/Disable compute the lens type ratio
Rx::ApiLF::EPar::MC_CalibrationIterationCount = Set the iteration count.

Parameters

eResult	The result.
bCalibrateAfterInit	(Optional) Indicates whether the actual calibration should be performed after the first initial iteration. If not this function performs only the first iteration which includes the initial error evaluation. This can be used to display the point situation before calibration.

RXLF_API void Rx::ApiLF::RxMetricCalibFinalize ( )

Clears the metric calibration.

RXLF_API void Rx::ApiLF::RxMetricCalibFindPoints	(	Rx::CRxImage &	xRefocusedImage,
		Rx::CRxArray2DDouble &	matPoints2D
	)

Raytrix metric calib transform bound image to point model.

Parameters

[in]	xRefocusedImage	The refocused image.
[out]	matPoints2D	The mat points 2 d.

RXLF_API void Rx::ApiLF::RxMetricCalibGetAddImageResult	(	const unsigned	uObjectId,
		Rx::CRxMetricCalibAddImageResult &	smcAddObjectResult
	)

Get result to an object id.

Parameters

	uObjectId	Identifier for the object.
[in,out]	smcAddObjectResult	The metric calibration add object result.

RXLF_API void Rx::ApiLF::RxMetricCalibGetAllObjectIds ( CRxArrayUInt & aObjectIds )

Get all valid object ids from the metric calibration.

Parameters

[out] aObjectIds List of identifiers for the objects.

RXLF_API void Rx::ApiLF::RxMetricCalibGetModelsList ( Rx::CRxArray2DDouble & matModelsList )

Get the list of all models extracted from the added image.

Parameters

[out] matModelsList Array of the models (planar models, test models). The first element in the array (0,0) (0, 1) represents the count of the respective model type.

RXLF_API void Rx::ApiLF::RxMetricCalibGetPointConnections	(	const unsigned	uId,
		const EMetricCalibPointType::ID	ePointType,
		Rx::CRxArray2DDouble &	matLines
	)

Get All point connections.

Attention: The point connections are only created when the Box-Calibration is performed

Parameters

	uId	The identifier.
[in,out]	matList	[in,out] An array of all connected points.

RXLF_API void Rx::ApiLF::RxMetricCalibGetPointEllipses	(	const unsigned	uId,
		const EMetricCalibPointFilter::ID	ePointFilter,
		const Rx::CRxImageFormat &	xTargetImageFormat,
		Rx::CRxArray2DDouble &	matPointEllipses
	)

Get the list of specific point ellipses.

Parameters

	uId	The identifier of the test model.
	ePointFilter	A filter specifying the point.
	xTargetImageFormat	The target image format on which the ellipses are to be drawn.
[out]	matPointEllipses	The array of point ellipses.

RXLF_API void Rx::ApiLF::RxMetricCalibGetPoints	(	const unsigned	uId,
		const EMetricCalibPointFilter::ID	ePointFilter,
		const EMetricCalibPointType::ID	ePointType,
		Rx::CRxArray2DDouble &	matPoints
	)

Get specific points from the models.

Parameters

	uId	The identifier of the model.
	ePointFilter	A filter specifying the point.
	ePointType	Type of the point.
[out]	matPoints	An array of all points (x,y,z).

RXLF_API void Rx::ApiLF::RxMetricCalibGetRefocusedImage	(	const unsigned	uObjectId,
		Rx::CRxImage &	xImage
	)

Get the refocused image from the metric calibration.

Parameters

	uObjectId	Identifier for the object.
[in,out]	xImage	The image.

RXLF_API void Rx::ApiLF::RxMetricCalibGetResult ( Rx::CRxMetricCalibResult & xMetricCalibResult )

Evaluated the calibration result. That is, the error function of the calibration is executed once with the current parameter settings and mean residual, mean euclidean distance, min euclidean distance, max euclidean distance and the standard deviation. Note that this function also projects all test points of all test models to object space.

Attention: The calibration result contains: -The mean residual -The mean euclidean distance -The minimum euclidean distance -The maximum euclidean distance -The standard deviation. -The percentage error of the longest path found in the model

Parameters

[out] xMetricCalibResult The metric calib result.

RXLF_API void Rx::ApiLF::RxMetricCalibInitialize ( Rx::ApiLF::EMetricCalibrationType::ID eCalibrationType )

Initialize metric calibration.

Parameters

eCalibrationType Type of the calibration.

RXLF_API void Rx::ApiLF::RxMetricCalibLoadCalibration ( const Rx::CRxString & sxFilename )

Load a '.rxcalib' file from file system, containing a calibrated system.

Parameters

sxFilename Filename of the calibration file.

RXLF_API void Rx::ApiLF::RxMetricCalibLoadPlanarModelData	(	const Rx::CRxString &	sxFilename,
		CRxArrayUInt &	aObjectIds
	)

Load planar model data.

Parameters

	sxFilename	Filename of the model data.
[in]	aObjectIds	List of identifiers for the objects.

RXLF_API void Rx::ApiLF::RxMetricCalibProjectPointsIntoObjectSpace	(	const CRxArray2DDouble &	matPoints2D,
		Rx::CRxImage &	xDepthImage,
		CRxArray2DDouble &	matPoints3D
	)

Receive metric calib projection points into object space.

Parameters

	matPoints2D	The matrix points 2 d.
[in]	xDepthImage	The depth image.
[out]	matPoints3D	The matrix points 3 d.

RXLF_API void Rx::ApiLF::RxMetricCalibRegisterCallbackFunctionWithMessageHandler ( bool bRegister )

Registers the callback function of the metric calibration to the api message handler.

Parameters

bRegister true to register.

RXLF_API void Rx::ApiLF::RxMetricCalibRemoveModelFromCalibrationSet ( const unsigned nObjectId )

Removes the models of the object given by its object id from the calibration set. Changes the result information related to this object id. You can receive the information of an object by calling Rx::ApiLF::RxMetricCalibGetAddImageResult.

Parameters

[in] nObjectId Identifier for the object.

RXLF_API void Rx::ApiLF::RxMetricCalibResetToNominal ( )

Reset the metric calibration to nominal values.

RXLF_API void Rx::ApiLF::RxMetricCalibSaveCalibration ( const Rx::CRxString & sxFilename )

Save the converged calibration result.

Attention: The filename must end with '.rxcalib'.

Parameters

sxFilename Filename of the calibration to save.

RXLF_API void Rx::ApiLF::RxMetricCalibSavePlanarModelData ( const Rx::CRxString & sxFilename )

Save planar model to filesystem.

Parameters

sxFilename Filename of the .calib file.

RXLF_API void Rx::ApiLF::RxMlaCalibExecute	(	Rx::ApiLF::EMlaCalibResult::ID &	eResult,
		bool	bIgnoreImageQuality = `true`
	)

Calibrate the micro lens image grid using white image from bound image.

This function attempts an automatic calibration of the micro lens image parameters. If a parallel light image calibration is available for the bound image, it is augmented. Else a standard white image calibration is performed.

Warning: If the micro-image parameter (i.e. position and pitch) are too far off, this function may not return a correct calibration. A white image has to be available for calibration estimation.

Precondition: There are currently two different calibration modes that can be selected via the parameter RxApiLF::EPar::MlaImg_CalibType . The available calibration modes are RxApiLF::ECalibGridMode::Full (including distortion models), RxApiLF::ECalibGridMode::Reduced (omitting distortions) and RxApiLF::ECalibGridMode::Plain (without homography).

This function reports on its progress using the set progress interface.

Parameters

eResult	[out] The result.
bIgnoreImageQuality	(Optional) True to ignore image quality.

RXLF_API void Rx::ApiLF::RxMlaCalibGetGridData	(	Rx::CRxArrayDouble &	aLensCenter,
		float &	fLensRadius,
		int	iLensType
	)

Get the lens center positions of given type in pixel coordinates. The corresponding lensRadius is returned.

Parameters

[out]	aLensCenter	The result list, containing the lens centers in pixel coordinates.
[out]	fLensRadius	The lens radius for the given Lens Type.
	iLensType	The lens type number to retrieve.

RXLF_API bool Rx::ApiLF::RxMlaCalibParallelLightExecute ( )

Calibrate the MLA properties using a parallel light image. Calibration has to be augmented by a white-image calibration to be valid.

Tries to estimate the properties of the MLA, i.e., lens pitch, MLA rotation etc..

Precondition: The parallel light image has to be available in the bound raw image.

Attention: Writes the estimation result to the active camera format. Set's ParallelCalib-valid flag to true. To be used for master- calibration only!

Returns: True if it succeeds, false, if the estimation algorithm detected an invalid estimation.

RXLF_API void Rx::ApiLF::RxMlaCalibRegisterCallbackFunction ( bool bActivate )

Enables/Disables progress callback of Rx::ApiLF::RxMlaCalibExecute / Rx::ApiLF::RxMlaCalibParallelLightExecute.

Standard interface is used.

ACG_Stage : reports active stage of algorithm (0 init, 1-3 respective stage, -1 finish)
ACG_Iteration : reports number of estimation steps performed in active stage.

Parameters

bActivate Set to 'true' to activate callback interface for progress information.

Functions

Detailed Description

Function Documentation