Methods to perform a camera calibration. More...

Functions
static void	Rx::Net::ApiLF::RxMetricCalibAddBoundImage ([Out] unsigned% uObjectId)
	Add the currently bound image to metric calibration. More...

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

static void	Rx::Net::ApiLF::RxMetricCalibEvaluatePointSpaceCoverage ([Out] array< double >^%adAreaCovered)
	Evaluate the metric calibration data set. More...

static void	Rx::Net::ApiLF::RxMetricCalibExecute (Rx::Net::ApiLF::EMetricCalibResult eResult, bool bCalibrateAfterInit)
	Performs the metric calibration. More...

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

static void	Rx::Net::ApiLF::RxMetricCalibFindPoints (Rx::Net::Image^ xImage, [Out] array< double, 2 >^%amatPointEllipses)
	Raytrix metric calib transform bound image to point model. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetAddImageResult (unsigned uObjectId, [Out] Rx::Net::MetricCalibAddImageResult^ %AddObjectResult)
	Get result to an object id. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetAllObjectIds ([Out] array< unsigned >^%auObjectIds)
	Get all valid object ids from the metric calibration. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetModelsList ([Out] array< double, 2 >^%amatModelsList)
	Get the list of all models extracted from the added image. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetPointConnections (unsigned uId, Rx::Net::ApiLF::EMetricCalibPointType ePointType, [Out] array< double, 2 >^%amatLines)
	Get All point connections. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetPointEllipses (unsigned uId, Rx::Net::ApiLF::EMetricCalibPointFilter ePointFilter, Rx::Net::ImageFormat^ xTargetImageFormat, [Out] array< double, 2 >^%matPointEllipses)
	Get the list of specific point ellipses. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetPoints (unsigned uId, Rx::Net::ApiLF::EMetricCalibPointFilter ePointFilter, Rx::Net::ApiLF::EMetricCalibPointType ePointType, [Out] array< double, 2 >^%amatPoints)
	Get specific points from the models. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetRefocusedImage (unsigned uObjectId, Rx::Net::Image^ xImage)
	Get the refocused image from the metric calibration. More...

static void	Rx::Net::ApiLF::RxMetricCalibGetResult ([Out] Rx::Net::MetricCalibResult^ %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...

static void	Rx::Net::ApiLF::RxMetricCalibInitialize (Rx::Net::ApiLF::EMetricCalibrationType eCalibrationType)
	Initialize metric calibration. More...

static void	Rx::Net::ApiLF::RxMetricCalibLoadCalibration (System::String^ sFilename)
	Load a '.rxcalib' file from file system, containing a calibrated system. More...

static void	Rx::Net::ApiLF::RxMetricCalibLoadPlanarModelData (System::String^ sFilename, [Out] array< unsigned >^%auObjectIds)
	Load planar model data. More...

static void	Rx::Net::ApiLF::RxMetricCalibProjectPointsIntoObjectSpace (array< double, 2 >^amatPoints, Rx::Net::Image^ xDepthImage, [Out] array< double, 2 >^%amatPoints3D)
	Receive metric calib projection points into object space. More...

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

static void	Rx::Net::ApiLF::RxMetricCalibRemoveModelFromCalibrationSet (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::Net::ApiLF::RxMetricCalibGetAddImageResult(unsigned, Rx::CRxMetricCalibAddImageResult);. More...

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

static void	Rx::Net::ApiLF::RxMetricCalibSaveCalibration (System::String^ sFilename)
	Save the converged calibration result. More...

static void	Rx::Net::ApiLF::RxMetricCalibSavePlanarModelData (System::String^ sFilename)
	Save planar model to filesystem. More...

static void	Rx::Net::ApiLF::RxMlaCalibExecute ([Out] Rx::Net::ApiLF::EMlaCalibResult% eResult, bool bIgnoreImageQuality)
	Calibrate the micro lens image grid using white image from bound image. More...

static void	Rx::Net::ApiLF::RxMlaCalibGetGridData ([Out] array< double >^%aLensData, [Out] double% dLensRadius, unsigned uLensType)
	Get the lens center positions of given type in pixel coordinates. The corresponding lensRadius is returned. More...

static bool	Rx::Net::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...

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

Detailed Description

Methods to perform a camera calibration.

Function Documentation

static void Rx::Net::ApiLF::RxMetricCalibAddBoundImage ( [Out] unsigned% uObjectId )

static

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] uObjectId The Id of the newly created object.

static void Rx::Net::ApiLF::RxMetricCalibApplyCalibrationToBoundImage ( )

static

Apply the computed metric calibration to a newly bound image.

static void Rx::Net::ApiLF::RxMetricCalibEvaluatePointSpaceCoverage ( [Out] array< double >^% adAreaCovered )

static

Evaluate the metric calibration data set.

Parameters

[out]

adAreaCovered

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

static void Rx::Net::ApiLF::RxMetricCalibExecute	(	Rx::Net::ApiLF::EMetricCalibResult	eResult,
		bool	bCalibrateAfterInit
	)

static

Performs the metric calibration.

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

Attention

Associated Api Parameters:

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

Parameters

eResult	The result.
bCalibrateAfterInit	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.

static void Rx::Net::ApiLF::RxMetricCalibFinalize ( )

static

Clears the metric calibration.

static void Rx::Net::ApiLF::RxMetricCalibFindPoints	(	Rx::Net::Image^	xImage,
		[Out] array< double, 2 >^%	amatPointEllipses
	)

static

Raytrix metric calib transform bound image to point model.

Parameters

[in]	xImage	The refocused image.
[out]	amatPointEllipses	The mat points 2D.

static void Rx::Net::ApiLF::RxMetricCalibGetAddImageResult	(	unsigned	uObjectId,
		[Out] Rx::Net::MetricCalibAddImageResult^ %	AddObjectResult
	)

static

Get result to an object id.

Parameters

	uObjectId	Identifier for the object.
[out]	AddObjectResult	The metric calibration add object result.

static void Rx::Net::ApiLF::RxMetricCalibGetAllObjectIds ( [Out] array< unsigned >^% auObjectIds )

static

Get all valid object ids from the metric calibration.

Parameters

[in] auObjectIds List of identifiers for the objects.

static void Rx::Net::ApiLF::RxMetricCalibGetModelsList ( [Out] array< double, 2 >^% amatModelsList )

static

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

Parameters

[out] amatModelsList 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.

static void Rx::Net::ApiLF::RxMetricCalibGetPointConnections	(	unsigned	uId,
		Rx::Net::ApiLF::EMetricCalibPointType	ePointType,
		[Out] array< double, 2 >^%	amatLines
	)

static

Get All point connections.

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

Parameters

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

static void Rx::Net::ApiLF::RxMetricCalibGetPointEllipses	(	unsigned	uId,
		Rx::Net::ApiLF::EMetricCalibPointFilter	ePointFilter,
		Rx::Net::ImageFormat^	xTargetImageFormat,
		[Out] array< double, 2 >^%	matPointEllipses
	)

static

Get the list of specific point ellipses.

Parameters

	uId	The identifier of the test model.
	ePointFilter	A filter specifying the point.
[in,out]	xTargetImageFormat	target image format.
[out]	matPointEllipses	The array of point ellipses.

static void Rx::Net::ApiLF::RxMetricCalibGetPoints	(	unsigned	uId,
		Rx::Net::ApiLF::EMetricCalibPointFilter	ePointFilter,
		Rx::Net::ApiLF::EMetricCalibPointType	ePointType,
		[Out] array< double, 2 >^%	amatPoints
	)

static

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]	amatPoints	An array of all points (x,y,z).

static void Rx::Net::ApiLF::RxMetricCalibGetRefocusedImage	(	unsigned	uObjectId,
		Rx::Net::Image^	xImage
	)

static

Get the refocused image from the metric calibration.

Parameters

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

static void Rx::Net::ApiLF::RxMetricCalibGetResult ( [Out] Rx::Net::MetricCalibResult^ % xMetricCalibResult )

static

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.

Parameters

[out] xMetricCalibResult The metric calib result.

static void Rx::Net::ApiLF::RxMetricCalibInitialize ( Rx::Net::ApiLF::EMetricCalibrationType eCalibrationType )

static

Initialize metric calibration.

Parameters

eCalibrationType Type of the calibration.

static void Rx::Net::ApiLF::RxMetricCalibLoadCalibration ( System::String^ sFilename )

static

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

Parameters

[in] sFilename Filename of the calibration file.

static void Rx::Net::ApiLF::RxMetricCalibLoadPlanarModelData	(	System::String^	sFilename,
		[Out] array< unsigned >^%	auObjectIds
	)

static

Load planar model data.

Parameters

[in]	sFilename	Filename of the model data.
[in]	auObjectIds	List of identifiers for the objects.

static void Rx::Net::ApiLF::RxMetricCalibProjectPointsIntoObjectSpace	(	array< double, 2 >^	amatPoints,
		Rx::Net::Image^	xDepthImage,
		[Out] array< double, 2 >^%	amatPoints3D
	)

static

Receive metric calib projection points into object space.

Parameters

[in]	amatPoints	The matrix points 2D.
[in]	xDepthImage	The depth image.
[out]	amatPoints3D	The matrix points 3D.

static void Rx::Net::ApiLF::RxMetricCalibRegisterCallbackFunctionWithMessageHandler ( bool bRegister )

static

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

Parameters

bRegister true to register.

static void Rx::Net::ApiLF::RxMetricCalibRemoveModelFromCalibrationSet ( unsigned nObjectId )

static

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::Net::ApiLF::RxMetricCalibGetAddImageResult(unsigned, Rx::CRxMetricCalibAddImageResult);.

Parameters

[in] nObjectId Identifier for the object.

static void Rx::Net::ApiLF::RxMetricCalibResetToNominal ( )

static

Reset the metric calibration to nominal values.

static void Rx::Net::ApiLF::RxMetricCalibSaveCalibration ( System::String^ sFilename )

static

Save the converged calibration result.

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

Parameters

[in] sFilename Filename of the calibration to save.

static void Rx::Net::ApiLF::RxMetricCalibSavePlanarModelData ( System::String^ sFilename )

static

Save planar model to filesystem.

Parameters

[in] sFilename Filename of the .calib file.

static void Rx::Net::ApiLF::RxMlaCalibExecute	(	[Out] Rx::Net::ApiLF::EMlaCalibResult%	eResult,
		bool	bIgnoreImageQuality
	)

static

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 Rx::Net::ApiLF::EPar::MlaImg_CalibType. The available calibration modes are Rx::Net::ApiLF::ECalibGridMode::Full (including distortion models), Rx::Net::ApiLF::ECalibGridMode::Reduced (omitting distortions) and Rx::Net::ApiLF::ECalibGridMode::Plain (without homography).

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

Parameters

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

static void Rx::Net::ApiLF::RxMlaCalibGetGridData	(	[Out] array< double >^%	aLensData,
		[Out] double%	dLensRadius,
		unsigned	uLensType
	)

static

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

Parameters

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

static bool Rx::Net::ApiLF::RxMlaCalibParallelLightExecute ( )

static

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.

static void Rx::Net::ApiLF::RxMlaCalibRegisterCallbackFunction ( bool bActivate )

static

Enables/Disables progress callback of Rx::Net::ApiLF::RxMlaCalibExecute / Rx::Net::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