Base of Inverse Perspective Mapping
[Inverse Perspective Mapping]

This module has the base class for the inverse perspective mapping. More...

Collaboration diagram for Base of Inverse Perspective Mapping:

Data Structures
struct	TYPElens
struct	TYPEImage
struct	TYPEMap
struct	TYPEProjectionProperties
struct	TYPEKinematics
struct	TYPEImageIN
class	class_base_ipm
Defines
#define	BASEIPM_DEBUGMODE 0
#define	VERBOSE 1
#define	MAX_INPUT_IMAGES 5
Functions
	class_base_ipm::~class_base_ipm ()
int	class_base_ipm::SetInImageProperties (uchar ii, int width, int height)
int	class_base_ipm::SetLensParameters (uchar ii, double VAngle, double HAngle)
int	class_base_ipm::SetCameraPosition (uchar ii, double PTUHeight, double PTUPan, double PTUTilt, double CAMPan, double CAMTx, double CAMTy)
int	class_base_ipm::SetOutImageProperties (double ppm, int width, int height)
int	class_base_ipm::SetKinematics (uchar ii, double ppm, double q1, double q2, double q5, double q6, double L1, double L2, double L3, double L5, double L6, double d4)
int	class_base_ipm::SetIntrinsicParameters (uchar ii, double ax, double ay, double cx, double cy, double s)
int	class_base_ipm::ReportImagesInProperties (uchar ii, char *filename)
int	class_base_ipm::ReportProjectionMaps (uchar ii, char *filename)
int	class_base_ipm::ReportProjectionMaps2 (uchar ii, char *filename)
int	class_base_ipm::Report_RTP_Matrix (uchar ii, char *filename)
int	class_base_ipm::Report_K_Matrix (uchar ii, char *filename)
int	class_base_ipm::Report_P_Matrix (uchar ii, char *filename)
int	class_base_ipm::Report_CAM_Location (uchar ii, char *filename)
int	class_base_ipm::ReadImagesInProperties (int ii, char *filename)
int	class_base_ipm::CalculateTransformationMatrix (int ii)
int	class_base_ipm::CalculateProjectionMaps (int ii, IplImage src, IplImage map, char forcecalculation, char use_skiping)
int	class_base_ipm::RemapImages_Gray (IplImage dst, IplImage src0, IplImage *src1)
int	class_base_ipm::RemapImages_RGB (IplImage dst, IplImage src0, IplImage *src1)
int	class_base_ipm::RemapAvgImages_Gray (IplImage dst, IplImage src0, IplImage src1=NULL, IplImage src2=NULL, IplImage src3=NULL, IplImage src4=NULL)
int	class_base_ipm::InterpolateImage_Gray (IplImage src, IplImage dst)
int	class_base_ipm::InterpolateImage_RGB (IplImage src, IplImage dst)
int	class_base_ipm::ReadCamParameters (uchar ii, char *location)
int	class_base_ipm::GetKinematics (uchar ii, double q1, double q2, double q5, double q6, double L1, double L2, double L3, double L5, double L6, double d4)
void	class_base_ipm::convertpts (double xin, double yin, double xout, double yout)
FILE *	class_base_ipm::SkipCommentLines (FILE *fp)
	Used to skip the commented lines.
char	class_base_ipm::CheckParameter (int argc, char *argv, char lookFor)
	Used by the GetConfigurationFile.
int	class_base_ipm::GetConfigurationFile (int ii, int mode)
	none at the moment.
int	class_base_ipm::getdate (char buffer[])
	class_base_ipm::class_base_ipm ()
	Constructor.
Variables
CvMat *	TYPEMap::r_y
CvMat *	TYPEMap::x
CvMat *	TYPEMap::y
CvMat *	TYPEMap::clpx
CvMat *	TYPEMap::clpy
CvMat *	TYPEMap::Depth
CvMat *	TYPEMap::Mapped
double	TYPEKinematics::q1
double	TYPEKinematics::q2
double	TYPEKinematics::q5
double	TYPEKinematics::q6
double	TYPEKinematics::d4
double	TYPEKinematics::r11
double	TYPEKinematics::r12
double	TYPEKinematics::r13
double	TYPEKinematics::r21
double	TYPEKinematics::r22
double	TYPEKinematics::r23
double	TYPEKinematics::r31
double	TYPEKinematics::r32
double	TYPEKinematics::r33
double	TYPEKinematics::t1
double	TYPEKinematics::t2
double	TYPEKinematics::t3
double	TYPEKinematics::dr11
double	TYPEKinematics::dr12
double	TYPEKinematics::dr13
double	TYPEKinematics::dr21
double	TYPEKinematics::dr22
double	TYPEKinematics::dr23
double	TYPEKinematics::dr31
double	TYPEKinematics::dr32
double	TYPEKinematics::dr33
double	TYPEKinematics::dt1
double	TYPEKinematics::dt2
double	TYPEKinematics::dt3
double	TYPEKinematics::p11
double	TYPEKinematics::p12
double	TYPEKinematics::p13
double	TYPEKinematics::p14
double	TYPEKinematics::p21
double	TYPEKinematics::p22
double	TYPEKinematics::p23
double	TYPEKinematics::p24
double	TYPEKinematics::p31
double	TYPEKinematics::p32
double	TYPEKinematics::p33
double	TYPEKinematics::p34
double	TYPEKinematics::V [3]
double	TYPEKinematics::Py [3]
double	TYPEKinematics::P1 [3]
double	TYPEKinematics::P2 [3]
double	TYPEKinematics::P3 [3]
double	TYPEKinematics::iPy [3]
double	TYPEKinematics::iP1 [3]
double	TYPEKinematics::iP2 [3]
double	TYPEKinematics::viPy [3]
double	TYPEKinematics::viP1 [3]
double	TYPEKinematics::viP2 [3]
double	TYPEKinematics::viP3 [3]
TYPElens	TYPEImageIN::Lens
TYPEImage	TYPEImageIN::Image
TYPEProjectionProperties	TYPEImageIN::Projection
TYPEKinematics	TYPEImageIN::Kin
struct {
uchar AllocMaps
}	TYPEImageIN::flg
double	class_base_ipm::prev_q1_0
double	class_base_ipm::prev_q1_1
double	class_base_ipm::prev_q2_0
double	class_base_ipm::prev_q2_1
double	class_base_ipm::global_ppm
char	class_base_ipm::baseFileName [300]
TYPEImageIN	class_base_ipm::ImagesIn [MAX_INPUT_IMAGES]
CvMat * class_base_ipm::y
struct {
CvMat * x
CvMat * class_base_ipm::y
} class_base_ipm::Map
struct {
TYPEImage Image
struct {
CvMat * x
CvMat * class_base_ipm::y
} class_base_ipm::Map
}	class_base_ipm::ImageOut

Detailed Description

This module has the base class for the inverse perspective mapping.

Define Documentation

#define BASEIPM_DEBUGMODE 0

#define MAX_INPUT_IMAGES 5

Referenced by class_base_ipm::class_base_ipm().

#define VERBOSE 1

Function Documentation

int class_base_ipm::CalculateProjectionMaps	(	int	ii,
		IplImage *	src,
		IplImage *	map,
		char	forcecalculation,
		char	use_skiping
	)			`[inherited]`

References C, class_base_ipm::convertpts(), D, TYPEKinematics::dr12, TYPEKinematics::dr13, TYPEKinematics::dr22, TYPEKinematics::dr23, TYPEKinematics::dr32, TYPEKinematics::dt1, TYPEKinematics::dt2, TYPEKinematics::dt3, TYPEImage::h, h, TYPEImageIN::Image, class_base_ipm::ImageOut, class_base_ipm::ImagesIn, TYPEImageIN::Kin, class_base_ipm::Map, TYPEProjectionProperties::NumPoints, TYPEKinematics::P1, TYPEKinematics::p11, TYPEKinematics::p12, TYPEKinematics::p14, TYPEKinematics::P2, TYPEKinematics::p21, TYPEKinematics::p22, TYPEKinematics::p24, TYPEKinematics::P3, TYPEKinematics::p31, TYPEKinematics::p32, TYPEKinematics::p34, class_base_ipm::prev_q1_0, class_base_ipm::prev_q1_1, class_base_ipm::prev_q2_0, class_base_ipm::prev_q2_1, TYPEImageIN::Projection, TYPEKinematics::Py, TYPEKinematics::q1, TYPEKinematics::q2, r, SetMVAL_32FC1(), SetMVAL_8UC1(), tmp, TYPEKinematics::V, TYPEKinematics::viP1, TYPEKinematics::viP2, TYPEKinematics::viP3, TYPEKinematics::viPy, and TYPEImage::w.

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int class_base_ipm::CalculateTransformationMatrix ( int ii ) [inherited]

char class_base_ipm::CheckParameter	(	int	argc,
		char **	argv,
		char *	lookFor
	)			`[private, inherited]`

Used by the GetConfigurationFile.

Parameters:

	argc
	argv
	lookFor

Returns:

class_base_ipm::class_base_ipm ( ) [inherited]

Constructor.

References TYPEImageIN::AllocMaps, TYPEMap::clpx, TYPEMap::clpy, TYPEImageIN::flg, class_base_ipm::ImagesIn, TYPEImageIN::Map, TYPEMap::Mapped, MAX_INPUT_IMAGES, class_base_ipm::prev_q1_0, class_base_ipm::prev_q1_1, class_base_ipm::prev_q2_0, class_base_ipm::prev_q2_1, TYPEMap::r_x, TYPEMap::r_y, TYPEMap::x, and TYPEMap::y.

void class_base_ipm::convertpts	(	double	xin,
		double	yin,
		double *	xout,
		double *	yout
	)			`[inherited]`

References class_base_ipm::ImageOut.

Referenced by class_base_ipm::CalculateProjectionMaps().

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int class_base_ipm::GetConfigurationFile	(	int	ii,
		int	mode
	)			`[private, inherited]`

none at the moment.

Parameters:

mode

Returns:

References class_base_ipm::baseFileName, fp, TYPEImage::h, class_base_ipm::Image, TYPEImageIN::Image, class_base_ipm::ImagesIn, MAX_LINE_SIZE, r, class_base_ipm::SkipCommentLines(), value, and TYPEImage::w.

Referenced by class_base_ipm::ReadCamParameters().

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int class_base_ipm::getdate ( char buffer[] ) [private, inherited]

Referenced by class_base_ipm::ReadImagesInProperties(), and class_base_ipm::ReportImagesInProperties().

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int class_base_ipm::GetKinematics	(	uchar	ii,
		double *	q1,
		double *	q2,
		double *	q5,
		double *	q6,
		double *	L1,
		double *	L2,
		double *	L3,
		double *	L5,
		double *	L6,
		double *	d4
	)			`[inline, inherited]`

References TYPEKinematics::d4, class_base_ipm::ImagesIn, TYPEImageIN::Kin, TYPEKinematics::L1, TYPEKinematics::L2, TYPEKinematics::L3, TYPEKinematics::L5, TYPEKinematics::L6, TYPEKinematics::q1, TYPEKinematics::q2, TYPEKinematics::q5, and TYPEKinematics::q6.

int class_base_ipm::InterpolateImage_Gray	(	IplImage *	src,
		IplImage *	dst
	)			`[inherited]`

References GetPixel_8UC1(), i, SetPixel_8UC1(), and v.

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int class_base_ipm::InterpolateImage_RGB	(	IplImage *	src,
		IplImage *	dst
	)			`[inherited]`

int class_base_ipm::ReadCamParameters	(	uchar	ii,
		char *	location
	)			`[inline, inherited]`

References class_base_ipm::baseFileName, and class_base_ipm::GetConfigurationFile().

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int class_base_ipm::ReadImagesInProperties	(	int	ii,
		char *	filename
	)			`[inherited]`

References class_base_ipm::getdate().

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int class_base_ipm::RemapAvgImages_Gray	(	IplImage *	dst,
		IplImage *	src0,
		IplImage *	src1 = `NULL`,
		IplImage *	src2 = `NULL`,
		IplImage *	src3 = `NULL`,
		IplImage *	src4 = `NULL`
	)			`[inherited]`

int class_base_ipm::RemapImages_Gray	(	IplImage *	dst,
		IplImage *	src0,
		IplImage *	src1
	)			`[inherited]`

References GetMVAL_32FC1(), GetMVAL_8UC1(), GetPixel_8UC1(), TYPEImage::h, h, TYPEImageIN::Image, class_base_ipm::ImageOut, class_base_ipm::ImagesIn, class_base_ipm::Map, SetPixel_8UC1(), v, and TYPEImage::w.

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int class_base_ipm::RemapImages_RGB	(	IplImage *	dst,
		IplImage *	src0,
		IplImage *	src1
	)			`[inherited]`

References GetMVAL_32FC1(), GetMVAL_8UC1(), GetPixel_8UC3(), TYPEImage::h, h, TYPEImageIN::Image, class_base_ipm::ImagesIn, class_base_ipm::Map, SetPixel_8UC3(), and TYPEImage::w.

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int class_base_ipm::Report_CAM_Location	(	uchar	ii,
		char *	filename
	)			`[inherited]`

int class_base_ipm::Report_K_Matrix	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References TYPElens::ay, TYPElens::cx, TYPElens::cy, class_base_ipm::ImagesIn, TYPEImageIN::Lens, TYPElens::s, and str.

int class_base_ipm::Report_P_Matrix	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References class_base_ipm::ImagesIn, TYPEImageIN::Kin, TYPEKinematics::p13, TYPEKinematics::p14, TYPEKinematics::p21, TYPEKinematics::p23, TYPEKinematics::p24, TYPEKinematics::p31, TYPEKinematics::p33, TYPEKinematics::p34, and str.

int class_base_ipm::Report_RTP_Matrix	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References class_base_ipm::ImagesIn, TYPEImageIN::Kin, TYPEKinematics::r12, TYPEKinematics::r13, TYPEKinematics::r21, TYPEKinematics::r22, TYPEKinematics::r23, TYPEKinematics::r31, TYPEKinematics::r32, TYPEKinematics::r33, str, TYPEKinematics::t1, TYPEKinematics::t2, and TYPEKinematics::t3.

int class_base_ipm::ReportImagesInProperties	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References TYPEKinematics::d4, class_base_ipm::getdate(), class_base_ipm::global_ppm, TYPEImage::h, TYPEImageIN::Image, class_base_ipm::Image, class_base_ipm::ImagesIn, TYPEImageIN::Kin, TYPEKinematics::L1, TYPEKinematics::L2, TYPEKinematics::L3, TYPEKinematics::L5, TYPEKinematics::L6, TYPEKinematics::q1, TYPEKinematics::q2, TYPEKinematics::q5, TYPEKinematics::q6, str, t, and TYPEImage::w.

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int class_base_ipm::ReportProjectionMaps	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References GetMVAL_32FC1(), GetMVAL_8UC1(), TYPEImage::h, TYPEImageIN::Image, class_base_ipm::ImagesIn, TYPEImageIN::Kin, class_base_ipm::Map, str, v, TYPEKinematics::viP1, TYPEKinematics::viP2, TYPEKinematics::viP3, TYPEKinematics::viPy, and TYPEImage::w.

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int class_base_ipm::ReportProjectionMaps2	(	uchar	ii,
		char *	filename
	)			`[inherited]`

References GetMVAL_32FC1(), GetMVAL_8UC1(), TYPEImage::h, TYPEImageIN::Image, class_base_ipm::ImagesIn, class_base_ipm::Map, v, and TYPEImage::w.

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int class_base_ipm::SetCameraPosition	(	uchar	ii,
		double	PTUHeight,
		double	PTUPan,
		double	PTUTilt,
		double	CAMPan,
		double	CAMTx,
		double	CAMTy
	)			`[inherited]`

int class_base_ipm::SetInImageProperties	(	uchar	ii,
		int	width,
		int	height
	)			`[inherited]`

References TYPEImageIN::AllocMaps, TYPEMap::clpx, TYPEMap::clpy, TYPEImageIN::flg, TYPEImage::h, TYPEImageIN::Image, class_base_ipm::ImagesIn, TYPEImageIN::Map, class_base_ipm::Map, TYPEMap::Mapped, TYPEMap::r_x, TYPEMap::r_y, TYPEImage::w, TYPEMap::x, and TYPEMap::y.

int class_base_ipm::SetIntrinsicParameters	(	uchar	ii,
		double	ax,
		double	ay,
		double	cx,
		double	cy,
		double	s
	)			`[inline, inherited]`

References TYPElens::ax, TYPElens::ay, TYPElens::cx, TYPElens::cy, class_base_ipm::ImagesIn, TYPEImageIN::Lens, and TYPElens::s.

int class_base_ipm::SetKinematics	(	uchar	ii,
		double	ppm,
		double	q1,
		double	q2,
		double	q5,
		double	q6,
		double	L1,
		double	L2,
		double	L3,
		double	L5,
		double	L6,
		double	d4
	)			`[inherited]`