latest version v1.9 - last update 10 Apr 2010 |
00001 /* 00002 * Copyright (C) 2002, 2003, 2004, 2005, 2006 00003 * Lehrstuhl fuer Technische Informatik, RWTH-Aachen, Germany 00004 * 00005 * This file is part of the LTI-Computer Vision Library (LTI-Lib) 00006 * 00007 * The LTI-Lib is free software; you can redistribute it and/or 00008 * modify it under the terms of the GNU Lesser General Public License (LGPL) 00009 * as published by the Free Software Foundation; either version 2.1 of 00010 * the License, or (at your option) any later version. 00011 * 00012 * The LTI-Lib is distributed in the hope that it will be 00013 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty 00014 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 * GNU Lesser General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU Lesser General Public 00018 * License along with the LTI-Lib; see the file LICENSE. If 00019 * not, write to the Free Software Foundation, Inc., 59 Temple Place - 00020 * Suite 330, Boston, MA 02111-1307, USA. 00021 */ 00022 00023 00024 /*-------------------------------------------------------------------- 00025 * project ....: LTI-Lib: Image Processing and Computer Vision Library 00026 * file .......: ltiCalibrationBlobFeatures.h 00027 * authors ....: Dorothee Finck 00028 * organization: LTI, RWTH Aachen 00029 * creation ...: 28.11.2002 00030 * revisions ..: $Id: ltiCalibrationBlobFeatures.h,v 1.7 2006/02/07 18:33:59 ltilib Exp $ 00031 */ 00032 00033 #ifndef _LTI_CALIBRATION_BLOB_FEATURES_H_ 00034 #define _LTI_CALIBRATION_BLOB_FEATURES_H_ 00035 00036 #include "ltiGeometricFeaturesFromMask.h" 00037 00038 namespace lti { 00039 00040 /** 00041 * To calibrate the camera optic feature points of an calibration 00042 * pattern must be extracted. This class extracts the center of 00043 * gravity of e.g. dark circular control points on a white 00044 * background. The control points must be placed on a rectangular 00045 * pattern, wich may be recorded under perspective distortion. 00046 * 00047 * The output is a matrix where the feature point in the i-th row 00048 * and j-th column corresponds to the control point in the i-th row 00049 * and j-th column of the calibration pattern. Because a very simple 00050 * algorithm for sorting the feature points is used, the perspective 00051 * distortion is limited in such a way that either all x-coordinates 00052 * of the points in one column must be smaller than all 00053 * x-coordinates of the points in the next column or all 00054 * y-coordinates of all points in one row respectively. 00055 */ 00056 class calibrationBlobFeatures : public modifier { 00057 public: 00058 /** 00059 * the parameters for the class calibrationBlobFeatures 00060 */ 00061 class parameters : public modifier::parameters { 00062 public: 00063 /** 00064 * default constructor 00065 */ 00066 parameters(); 00067 00068 /** 00069 * copy constructor 00070 * @param other the parameters object to be copied 00071 */ 00072 parameters(const parameters& other); 00073 00074 /** 00075 * destructor 00076 */ 00077 ~parameters(); 00078 00079 /** 00080 * returns name of this type 00081 */ 00082 const char* getTypeName() const; 00083 00084 /** 00085 * copy the contents of a parameters object 00086 * @param other the parameters object to be copied 00087 * @return a reference to this parameters object 00088 */ 00089 parameters& copy(const parameters& other); 00090 00091 /** 00092 * copy the contents of a parameters object 00093 * @param other the parameters object to be copied 00094 * @return a reference to this parameters object 00095 */ 00096 parameters& operator=(const parameters& other); 00097 00098 00099 /** 00100 * returns a pointer to a clone of the parameters 00101 */ 00102 virtual functor::parameters* clone() const; 00103 00104 /** 00105 * write the parameters in the given ioHandler 00106 * @param handler the ioHandler to be used 00107 * @param complete if true (the default) the enclosing begin/end will 00108 * be also written, otherwise only the data block will be written. 00109 * @return true if write was successful 00110 */ 00111 virtual bool write(ioHandler& handler,const bool complete=true) const; 00112 00113 /** 00114 * read the parameters from the given ioHandler 00115 * @param handler the ioHandler to be used 00116 * @param complete if true (the default) the enclosing begin/end will 00117 * be also written, otherwise only the data block will be written. 00118 * @return true if write was successful 00119 */ 00120 virtual bool read(ioHandler& handler,const bool complete=true); 00121 00122 # ifdef _LTI_MSC_6 00123 /** 00124 * this function is required by MSVC only, as a workaround for a 00125 * very awful bug, which exists since MSVC V.4.0, and still by 00126 * V.6.0 with all bugfixes (so called "service packs") remains 00127 * there... This method is also public due to another bug, so please 00128 * NEVER EVER call this method directly: use read() instead 00129 */ 00130 bool readMS(ioHandler& handler,const bool complete=true); 00131 00132 /** 00133 * this function is required by MSVC only, as a workaround for a 00134 * very awful bug, which exists since MSVC V.4.0, and still by 00135 * V.6.0 with all bugfixes (so called "service packs") remains 00136 * there... This method is also public due to another bug, so please 00137 * NEVER EVER call this method directly: use write() instead 00138 */ 00139 bool writeMS(ioHandler& handler,const bool complete=true) const; 00140 # endif 00141 00142 // ------------------------------------------------ 00143 // the parameters 00144 // ------------------------------------------------ 00145 00146 /** 00147 * All pixels with a grey value below this threshold are considered 00148 * blob pixels, unless the formed object is too small. 00149 */ 00150 int blobThreshold; 00151 00152 /** 00153 * All blobs smaller than this are considered as noise and discarded. 00154 */ 00155 int minimumBlobSize; 00156 00157 /** 00158 * The number of blobs that are expected along the x- and y-axis. It is 00159 * assumed that all lines and columns of the calibration pattern contain 00160 * the same number of markers (blobs). 00161 */ 00162 point numberOfBlobs; 00163 00164 /** 00165 * If true, all x-coordinates of the points in one row must be smaller 00166 * than all x-coordinatens of the points in the next row. If false, all 00167 * y-coordinates of the points in one column must be smaller than all 00168 * y-coordinatens of the points in the next column. 00169 */ 00170 bool xOrdering; 00171 }; 00172 00173 /** 00174 * default constructor 00175 */ 00176 calibrationBlobFeatures(); 00177 00178 /** 00179 * Construct a functor using the given parameters 00180 */ 00181 calibrationBlobFeatures(const parameters& par); 00182 00183 /** 00184 * copy constructor 00185 * @param other the object to be copied 00186 */ 00187 calibrationBlobFeatures(const calibrationBlobFeatures& other); 00188 00189 /** 00190 * destructor 00191 */ 00192 virtual ~calibrationBlobFeatures(); 00193 00194 /** 00195 * returns the name of this type ("calibrationBlobFeatures") 00196 */ 00197 virtual const char* getTypeName() const; 00198 00199 /** 00200 * Computes a matrix with all calibration features. The image will be 00201 * converted to grey-values by averaging all 3 channels. 00202 * Returns true on success and false otherwise. E.g. false is returned if 00203 * the number of expected calibration features could not be extracted. 00204 */ 00205 bool apply(const image& src, matrix<point>& dest); 00206 00207 /** 00208 * Computes a matrix with all calibration features from a grey 00209 * value image. 00210 * 00211 * @return true on success and false otherwise. E.g. false is 00212 * returned if the number of expected calibration features could 00213 * not be extracted. 00214 */ 00215 bool apply(const channel8& src, matrix<point>& dest); 00216 00217 /** 00218 * copy data of "other" functor. 00219 * @param other the functor to be copied 00220 * @return a reference to this functor object 00221 */ 00222 calibrationBlobFeatures& copy(const calibrationBlobFeatures& other); 00223 00224 /** 00225 * alias for copy member 00226 * @param other the functor to be copied 00227 * @return a reference to this functor object 00228 */ 00229 calibrationBlobFeatures& operator=(const calibrationBlobFeatures& other); 00230 00231 /** 00232 * returns a pointer to a clone of this functor. 00233 */ 00234 virtual functor* clone() const; 00235 00236 /** 00237 * returns used parameters 00238 */ 00239 const parameters& getParameters() const; 00240 00241 }; 00242 } 00243 00244 #endif