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firevision::RectificationLutInfoBlock Class Reference

Recitification Lookup Table Block. More...

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Inheritance diagram for firevision::RectificationLutInfoBlock:

List of all members.

Public Member Functions

 RectificationLutInfoBlock (uint16_t width, uint16_t height, uint8_t camera)
 Constructor.
 RectificationLutInfoBlock (FireVisionDataFileBlock *block)
 Copy Constructor.
void set_mapping (uint16_t x, uint16_t y, uint16_t to_x, uint16_t to_y)
 Set mapping.
virtual void mapping (uint16_t x, uint16_t y, uint16_t *to_x, uint16_t *to_y)
 Get mapping (to_x, to_y) for (x, y).
uint16_t pixel_width ()
 Get width of the LUT.
uint16_t pixel_height ()
 Get height the LUT.
rectinfo_lut_16x16_entry_tlut_data ()
 Get raw LUT data.
- Public Member Functions inherited from firevision::RectificationInfoBlock
 RectificationInfoBlock (uint8_t block_type, uint8_t camera, size_t block_size)
 Recommended constructor.
 RectificationInfoBlock (FireVisionDataFileBlock *block)
 Copy constructor.
virtual ~RectificationInfoBlock ()
 Destructor.
uint8_t camera () const
 Get block camera identifier.
- Public Member Functions inherited from firevision::FireVisionDataFileBlock
 FireVisionDataFileBlock (unsigned int type, size_t data_size, void *spec_header, size_t spec_header_size)
 Constructor.
 FireVisionDataFileBlock (unsigned int type, size_t data_size, size_t spec_header_size)
 Constructor.
 FireVisionDataFileBlock (unsigned int type, size_t data_size)
 Constructor.
 FireVisionDataFileBlock (FireVisionDataFileBlock *block)
 Shallow copy constructor.
virtual ~FireVisionDataFileBlock ()
 Destructor.
unsigned int type () const
 Get block type.
void * block_memptr () const
 Pointer to the whole block.
size_t block_size () const
 Size of blocks.
void * data_ptr () const
 Get data pointer.
size_t data_size () const
 Size of data chunk.

Additional Inherited Members

- Protected Attributes inherited from firevision::RectificationInfoBlock
rectinfo_block_header_t_block_header
 Rectification block header.
- Protected Attributes inherited from firevision::FireVisionDataFileBlock
void * _data
 Pointer to the internal data segment.
size_t _data_size
 Size of _data in bytes.
void * _spec_header
 Pointer to the content specific block header.

Detailed Description

Recitification Lookup Table Block.

This class defines a rectification lookup table info block that can be used to define a LUT that maps rectified to unrectified pixels.

Author:
Tim Niemueller

Definition at line 34 of file rectinfo_lut_block.h.


Constructor & Destructor Documentation

firevision::RectificationLutInfoBlock::RectificationLutInfoBlock ( uint16_t  width,
uint16_t  height,
uint8_t  camera 
)

Constructor.

Parameters:
widthwidth of the image
heightheight of the image
cameracamera identifier, see rectinfo_camera_t

Definition at line 47 of file rectinfo_lut_block.cpp.

References firevision::FireVisionDataFileBlock::_data, firevision::_rectinfo_lut_16x16_block_header_t::height, and firevision::_rectinfo_lut_16x16_block_header_t::width.

firevision::RectificationLutInfoBlock::RectificationLutInfoBlock ( FireVisionDataFileBlock block)

Copy Constructor.

It is assumed that the block actually is a rectification LUT info block. Check that before calling this method.

Parameters:
blockblock to copy

Definition at line 69 of file rectinfo_lut_block.cpp.

References firevision::FireVisionDataFileBlock::_data.


Member Function Documentation

rectinfo_lut_16x16_entry_t * firevision::RectificationLutInfoBlock::lut_data ( )

Get raw LUT data.

Use this to access the LUT.

Returns:
pointer to raw LUT data

Definition at line 147 of file rectinfo_lut_block.cpp.

Referenced by firevision::FilterRectify::apply().

void firevision::RectificationLutInfoBlock::mapping ( uint16_t  x,
uint16_t  y,
uint16_t *  to_x,
uint16_t *  to_y 
)
virtual

Get mapping (to_x, to_y) for (x, y).

This can be used as a general method to access the RectificationInfoBlock mapping. For many models there may be a better (faster) way to access the mapping information. It performance matters (and it most probably will) exploit this and use the provided shortcut.

Parameters:
xX pixel coordinate to get mapping for
yY pixel coordinate to get mapping for
to_xUpon return contains the X pixel coordinate of the unrectified image
to_yUpon return contains the Y pixel coordinate of the unrectified image

Implements firevision::RectificationInfoBlock.

Definition at line 79 of file rectinfo_lut_block.cpp.

References firevision::_rectinfo_lut_16x16_block_header_t::height, firevision::_rectinfo_lut_16x16_block_header_t::width, firevision::_rectinfo_lut_16x16_entry_t::x, and firevision::_rectinfo_lut_16x16_entry_t::y.

Referenced by firevision::TriclopsStereoProcessor::verify_rectification_lut().

uint16_t firevision::RectificationLutInfoBlock::pixel_height ( )

Get height the LUT.

Returns:
height of LUT.

Definition at line 136 of file rectinfo_lut_block.cpp.

References firevision::_rectinfo_lut_16x16_block_header_t::height.

Referenced by firevision::FilterRectify::apply().

uint16_t firevision::RectificationLutInfoBlock::pixel_width ( )

Get width of the LUT.

Returns:
width of LUT.

Definition at line 126 of file rectinfo_lut_block.cpp.

References firevision::_rectinfo_lut_16x16_block_header_t::width.

Referenced by firevision::FilterRectify::apply().

void firevision::RectificationLutInfoBlock::set_mapping ( uint16_t  x,
uint16_t  y,
uint16_t  to_x,
uint16_t  to_y 
)

Set mapping.

Parameters:
xX pixel coordinate to get mapping for
yY pixel coordinate to get mapping for
to_xX pixel coordinate of the unrectified image
to_yY pixel coordinate of the unrectified image

Definition at line 101 of file rectinfo_lut_block.cpp.

References firevision::_rectinfo_lut_16x16_block_header_t::height, firevision::_rectinfo_lut_16x16_block_header_t::width, firevision::_rectinfo_lut_16x16_entry_t::x, and firevision::_rectinfo_lut_16x16_entry_t::y.

Referenced by firevision::TriclopsStereoProcessor::generate_rectification_lut().


The documentation for this class was generated from the following files: