#include <CameraModelHalconDivision.h>

Inheritance diagram for libCalib::CameraModelHalconDivision:

Public Types
enum	ParameterIdx { FocusIdx = 0 , KappaIdx , CxIdx , CyIdx }

Public Member Functions
template<typename T >
bool	distort (const T &u, const T &v, T &ud, T &vd, const T *params) const

template<typename T >
bool	project (const T &X, const T &Y, const T &Z, T &c, T &r, const T *params) const

template<typename T >
bool	unproject (const T &u, const T &v, T &X, T &Y, T &Z, const T *params) const

void	initialize (const double f, const double ar, const double cx, const double cy, const double k1) override

void	getUndistortionMaps (Image< float > &mapU, Image< float > &mapV, Matrix< double, 3, 3 > &K) const override

ParameterReference	Focus ()

ParameterReference	Kappa ()

ParameterReference	Cx ()

ParameterReference	Cy ()

template<class Archive >
void	serialize (Archive &ar)

Public Member Functions inherited from libCalib::CameraModelCRT< CameraModelHalconDivision >
std::unique_ptr< ceres::CostFunction >	newCostFunction (const Point2 &imagePoint) const override

double	getVal (const std::string &name) const override

double	getVal (const int idx) const override

double *	getValsPtr () override

std::vector< double >	getVals () const override

void	setVals (const std::vector< double > &vals) override

bool	setVal (const std::string name, const double val) override

bool	setVal (const int idx, const double val) override

bool	setState (const std::string name, const ParameterState state) override

ParameterState	getState (const std::string name) override

std::vector< int >	getConstantIds () const override

int	getNParams () const override

const std::string	getName () const override

std::vector< ParameterName >	getParameterNames () const override

bool	projectPoint (const double X, const double Y, const double Z, double &u, double &v) const override

bool	unprojectPoint (const double &u, const double &v, double &X, double &Y, double &Z) const override

virtual void	getUnprojectionMaps (Image< float > &mapX, Image< float > &mapY) const override

std::string	toString () const override

std::unique_ptr< CameraModelBase >	clone () const override

virtual std::unique_ptr< ceres::CostFunction >	regularizationFunction (const int nResiduals) const override

void	serialize (Archive &ar)

	CameraModelBase (const ImageSize imageSize)

	CameraModelBase ()

Public Member Functions inherited from libCalib::CameraModelBase
	CameraModelBase (const ImageSize imageSize)

template<class Archive >
void	serialize (Archive &ar)

Static Public Member Functions
static const std::string	name ()

static const std::array< ParameterName, nParameters >	parameterNames ()

Public Attributes
const double	Sx = 1e-6

const double	Sy = 1e-6

Parameters< nParameters >	parameters

Public Attributes inherited from libCalib::CameraModelBase
ImageSize	imageSize

Static Public Attributes
static const int	nParameters {4}

Detailed Description

Halcon divison camera model for non-telecentric area-scan cameras. Note that Sx and Sy are fixed to 1e-6 (reasonable pixel size) as they cannot be estimated jointly with Focus. https://www.mvtec.com/doc/halcon/12/en/calibrate_cameras.html

Member Function Documentation

◆ getUndistortionMaps()

void libCalib::CameraModelHalconDivision::getUndistortionMaps	(	Image< float > &	mapU,
		Image< float > &	mapV,
		Matrix< double, 3, 3 > &	K
	)		const

overridevirtual

Reimplemented from libCalib::CameraModelCRT< CameraModelHalconDivision >.

◆ initialize()

void libCalib::CameraModelHalconDivision::initialize	(	const double	f,
		const double	ar,
		const double	cx,
		const double	cy,
		const double	k1
	)

overridevirtual

Reimplemented from libCalib::CameraModelCRT< CameraModelHalconDivision >.

Member Data Documentation

◆ parameters

Parameters<nParameters> libCalib::CameraModelHalconDivision::parameters

Initial value:

= Parameters<nParameters>(
      parameterNames(),
      {1.0, 0.0, imageSize.width / 2.0 - 0.5, imageSize.height / 2.0 - 0.5})

Public Types

Public Member Functions

Static Public Member Functions