Detailed Description

Defines a single camera or ray image calibration, including a possible gray image.

Inherits Rx::LFR::CParametersPimpl< CCalibration_Impl, Params::ECalib::ID, Interfaces::ECalib::ID >.

Public Types
typedef Interfaces::ECalib::ID	EnumInterfaceType

typedef Params::ECalib::ID	EnumType
	The type of the parameter enum. Is used by managed wrapper classes. More...

Public Member Functions
	CCalibration ()
	Default constructor. Creates an uninitialized calibration. Call SetToDefault to initialize it. More...

	CCalibration (CCalibration &&xCalibration)
	Move constructor. More...

	~CCalibration ()
	Destructor. Frees all used memory including the gray image. More...

const void *	GetCameraFormat () const
	Gets the pointer to the internal camera format. Only for internal purposes. More...

const CRxMapping3D &	GetDepthCorrectionVolume () const
	Gets the depth correction volume. More...

CRxMapping3D &	GetDepthCorrectionVolume ()
	Gets the depth correction volume. More...

const CRxImage &	GetGrayImage () const
	Gets the gray image. The gray image is invalid if this calibration has no gray image. More...

CRxImage &	GetGrayImage ()
	Gets the gray image. The gray image is invalid if this calibration has no gray image. More...

void	GetGridData (CRxArray2DDouble &adLensData2D, bool bMLI) const
	Gets the grid data of this calibration. More...

CCalibration_Impl &	GetImpl ()
	Gets the non constant implementation. More...

const CCalibration_Impl &	GetImpl () const
	Gets the constant implementation. More...

void *	GetInterface (Interfaces::ECalib::ID eInterface)
	Gets the interface defined by the given interface ID. More...

const void *	GetInterface (Interfaces::ECalib::ID eInterface) const
	Gets the interface defined by the given interface ID. More...

TInterface *	GetInterface (Interfaces::ECalib::ID eInterface)
	Gets the interface defined by the given interface ID. More...

const TInterface *	GetInterface (Interfaces::ECalib::ID eInterface) const
	Gets the interface defined by the given interface ID. More...

CParameters< Params::ECalib::ID > &	GetParams ()

const CParameters< Params::ECalib::ID > &	GetParams () const

void	GetRawImagePointsFromVirtualMM_s (CRxArray< double > &adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU) const
	Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More...

void	GetRawImagePointsFromVirtualMM_s (CRxArray< double > &adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU, int iMinAllowedDistanceToLensBorderPX) const
	Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More...

void	GetVirtualMM_sFromRawImagePoint (double &dTrgX, double &dTrgY, double &dTrgZ, double dSrcX, double dSrcY, double dSrcZ) const
	Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space. More...

bool	HasDepthCorrectionVolume () const
	Query if this object has a depth correction volume. More...

bool	HasGrayImage () const
	Queries if this calibration has a gray image. More...

bool	HasInterface (Interfaces::ECalib::ID eInterface)
	Queries if this object has the given interface. More...

CCalibration &	operator= (CCalibration &&xCalibration)
	Move assignment operator. More...

bool	Project (CRxArrayDouble &adTrgPoints, const CRxArrayDouble &adSrcPoints, LF::ESpace::ID eTrgSpace, LF::ESpace::ID eSrcSpace, const CRxImageFormat &xFormat) const
	Projects an array of points from the given source space into the given target space. More...

double	ProjectDepth (double dSrcDepth, LF::ESpace::ID eSrcSpace, bool bSrcVD, LF::ESpace::ID eTrgSpace, bool bTrgVD) const
	Projects the given source depth value into the given target space. More...

void	SaveAsXmlFile (const CRxString &sxFilename)
	Saves some details of this calibration as a XML file. More...

void	SaveAsXmlString (CRxString &sxXml)
	Saves some details of this calibration as a XML string. More...

void	SetCameraFormat (const void *pvData)
	Sets the camera format by pointer. Only for internal purposes. More...

void	SetDepthCorrectionVolume (CRxMapping3D &&xMapping)
	Sets the depth correction volume. This moves the given mapping into this calibration. More...

void	SetGrayImage (const Interop::Runtime28::IImage *pxImg)
	Sets the given image as the gray image. This copies the given image into this calibration. More...

void	SetGrayImage (const CRxImage &xImg)
	Sets the given image as the gray image. This copies the given image into this calibration. More...

void	SetGrayImage (CRxImage &&xImg)
	Sets the given image as the gray image. This moves the given image into this calibration. More...

void	SetToDefault (int iHeightPX, int iWidthPX)
	Sets this calibration to default. All applied parameters are reset. The gray image is not affected. More...

Member Typedef Documentation

typedef Interfaces::ECalib::ID Rx::LFR::CParametersPimpl< CCalibration_Impl , Params::ECalib::ID , Interfaces::ECalib::ID >::EnumInterfaceType

inherited

typedef Params::ECalib::ID Rx::LFR::CParametersPimpl< CCalibration_Impl , Params::ECalib::ID , Interfaces::ECalib::ID >::EnumType

inherited

The type of the parameter enum. Is used by managed wrapper classes.

Constructor & Destructor Documentation

Rx::LFR::CCalibration::CCalibration ( )

Default constructor. Creates an uninitialized calibration. Call SetToDefault to initialize it.

Rx::LFR::CCalibration::CCalibration ( CCalibration && xCalibration )

Move constructor.

Parameters

xCalibration [in,out]The calibration instance.

Rx::LFR::CCalibration::~CCalibration ( )

Destructor. Frees all used memory including the gray image.

Member Function Documentation

const void* Rx::LFR::CCalibration::GetCameraFormat ( ) const

Gets the pointer to the internal camera format. Only for internal purposes.

Returns: The pointer to the internal camera format.

const CRxMapping3D& Rx::LFR::CCalibration::GetDepthCorrectionVolume ( ) const

Gets the depth correction volume.

Returns: The depth correction volume.

CRxMapping3D& Rx::LFR::CCalibration::GetDepthCorrectionVolume ( )

Gets the depth correction volume.

Returns: The depth correction volume.

const CRxImage& Rx::LFR::CCalibration::GetGrayImage ( ) const

Gets the gray image. The gray image is invalid if this calibration has no gray image.

Returns: The gray image.

CRxImage& Rx::LFR::CCalibration::GetGrayImage ( )

Gets the gray image. The gray image is invalid if this calibration has no gray image.

Returns: The gray image.

void Rx::LFR::CCalibration::GetGridData	(	CRxArray2DDouble &	adLensData2D,
		bool	bMLI
	)		const

Gets the grid data of this calibration.

The grid data is a 2D vector of lens information. For each lens on the grid exists a four component entry with the following values:

1. X position of the lens center given in pixels on the PXA
2. Y position of the lens center given in pixels on the PXA
3. The effective radius of the lens
4. The lens type of the lens.

Parameters

adLensData2D	[out] The 2D lens information vector.
bMLI	True to get the MLI grid. False to get the MLA grid.

CCalibration_Impl & Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetImpl ( )

inlineinherited

Gets the non constant implementation.

Returns: The implementation.

const CCalibration_Impl & Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetImpl ( ) const

inlineinherited

Gets the constant implementation.

Returns: The implementation.

void* Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetInterface ( Interfaces::ECalib::ID eInterface )

inherited

Gets the interface defined by the given interface ID.

Parameters

eInterface The interface ID.

Returns: Null if it fails, else the interface.

const void* Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetInterface ( Interfaces::ECalib::ID eInterface ) const

inherited

Gets the interface defined by the given interface ID.

Parameters

eInterface The interface ID.

Returns: Null if it fails, else the interface.

TInterface* Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetInterface ( Interfaces::ECalib::ID eInterface )

inlineinherited

Gets the interface defined by the given interface ID.

Template Parameters

TInterface The interface type.

Parameters

eInterface The interface.

Returns: Null if it fails, else the interface.

const TInterface* Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::GetInterface ( Interfaces::ECalib::ID eInterface ) const

inlineinherited

Gets the interface defined by the given interface ID.

Template Parameters

TInterface The interface type.

Parameters

eInterface The interface ID.

Returns: Null if it fails, else the interface.

CParameters<Params::ECalib::ID >& Rx::LFR::CParametersPimpl< CCalibration_Impl , Params::ECalib::ID , Interfaces::ECalib::ID >::GetParams ( )

inherited

const CParameters<Params::ECalib::ID >& Rx::LFR::CParametersPimpl< CCalibration_Impl , Params::ECalib::ID , Interfaces::ECalib::ID >::GetParams ( ) const

inherited

void Rx::LFR::CCalibration::GetRawImagePointsFromVirtualMM_s	(	CRxArray< double > &	adRawPoints,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ,
		int	iRadiusLU
	)		const

Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.

Parameters

adRawPoints	[out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type.
dSrcX	The X coordinate of the source point in virtual space in millimeters.
dSrcY	The Y coordinate of the source point in virtual space in millimeters.
dSrcZ	The Z coordinate of the source point in virtual space in millimeters.
iRadiusLU	The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended.

void Rx::LFR::CCalibration::GetRawImagePointsFromVirtualMM_s	(	CRxArray< double > &	adRawPoints,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ,
		int	iRadiusLU,
		int	iMinAllowedDistanceToLensBorderPX
	)		const

Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.

Parameters

adRawPoints	[out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type.
dSrcX	The X coordinate of the source point in virtual space in millimeters.
dSrcY	The Y coordinate of the source point in virtual space in millimeters.
dSrcZ	The Z coordinate of the source point in virtual space in millimeters.
iRadiusLU	The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended.
iMinAllowedDistanceToLensBorderPX	The minimal allowed distance to lens border in pixels.

void Rx::LFR::CCalibration::GetVirtualMM_sFromRawImagePoint	(	double &	dTrgX,
		double &	dTrgY,
		double &	dTrgZ,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ
	)		const

Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space.

Parameters

dTrgX	[in,out] The X coordinate of the target point in virtual space in mm.
dTrgY	[in,out] The Y coordinate of the target point in virtual space in mm.
dTrgZ	[in,out] The Z coordinate of the target point in virtual space in mm.
dSrcX	The X coordinate of the source point in pixels in raw image format.
dSrcY	The Y coordinate of the target point in pixels in raw image format.
dSrcZ	The Z coordinate of the target point in standard depths (Between 0.5 and 1.0)

bool Rx::LFR::CCalibration::HasDepthCorrectionVolume ( ) const

Query if this object has a depth correction volume.

Returns: True if there is a depth correction volume, false if not.

bool Rx::LFR::CCalibration::HasGrayImage ( ) const

Queries if this calibration has a gray image.

Returns: True if this calibration has a gray image, false if not.

bool Rx::LFR::CPimpl< CCalibration_Impl , Interfaces::ECalib::ID >::HasInterface ( Interfaces::ECalib::ID eInterface )

inlineinherited

Queries if this object has the given interface.

Parameters

eInterface The interface to query.

Returns: True if this class has the given interface, false if not.

CCalibration& Rx::LFR::CCalibration::operator= ( CCalibration && xCalibration )

Move assignment operator.

Parameters

xCalibration [in,out] The calibration instance.

Returns: The instance.

bool Rx::LFR::CCalibration::Project	(	CRxArrayDouble &	adTrgPoints,
		const CRxArrayDouble &	adSrcPoints,
		LF::ESpace::ID	eTrgSpace,
		LF::ESpace::ID	eSrcSpace,
		const CRxImageFormat &	xFormat
	)		const

Projects an array of points from the given source space into the given target space.

Parameters

adTrgPoints	[out] The array of projected points.
adSrcPoints	The array of points to project.
eTrgSpace	The target space.
eSrcSpace	The source space.
xFormat	The image format of the source and/or target space. Only required if the space is a view. This parameter limits this function to allow only projections from an image format to the same image format.

Returns: True if all projections succeeded, false if at least one projection failed (out of sensor or image).

double Rx::LFR::CCalibration::ProjectDepth	(	double	dSrcDepth,
		LF::ESpace::ID	eSrcSpace,
		bool	bSrcVD,
		LF::ESpace::ID	eTrgSpace,
		bool	bTrgVD
	)		const

Projects the given source depth value into the given target space.

Parameters

dSrcDepth	The source depth value in millimeter or virtual depths.
eSrcSpace	The source space.
bSrcVD	True if the source depth value is given in virtual depths. Is ignored if the source space isn't virtual.
eTrgSpace	The target space.
bTrgVD	True if the target depth value should be given in virtual depths. Is ignored if the target space isn't virtual.

Returns: The resultant target depth value in millimeter or virtual depths.

void Rx::LFR::CCalibration::SaveAsXmlFile ( const CRxString & sxFilename )

Saves some details of this calibration as a XML file.

Parameters

sxFilename The file name.

void Rx::LFR::CCalibration::SaveAsXmlString ( CRxString & sxXml )

Saves some details of this calibration as a XML string.

Parameters

sxXml [out] The XML string.

void Rx::LFR::CCalibration::SetCameraFormat ( const void * pvData )

Sets the camera format by pointer. Only for internal purposes.

Parameters

pvData [in] The pointer to the camera format to set.

void Rx::LFR::CCalibration::SetDepthCorrectionVolume ( CRxMapping3D && xMapping )

Sets the depth correction volume. This moves the given mapping into this calibration.

Parameters

xMapping [in] The mapping is invalid after this call.

void Rx::LFR::CCalibration::SetGrayImage ( const Interop::Runtime28::IImage * pxImg )

Sets the given image as the gray image. This copies the given image into this calibration.

Parameters

pxImg The image.

void Rx::LFR::CCalibration::SetGrayImage ( const CRxImage & xImg )

Sets the given image as the gray image. This copies the given image into this calibration.

Parameters

xImg	The gray image.

void Rx::LFR::CCalibration::SetGrayImage ( CRxImage && xImg )

Sets the given image as the gray image. This moves the given image into this calibration.

Parameters

xImg	The gray image. Is invalid after this call.

void Rx::LFR::CCalibration::SetToDefault	(	int	iHeightPX,
		int	iWidthPX
	)

Sets this calibration to default. All applied parameters are reset. The gray image is not affected.

Parameters

iHeightPX	The height of the camera sensor in pixels.
iWidthPX	The width of the camera sensor in pixels.

Detailed Description

Public Types

Public Member Functions

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation