calibrate.Image Class Reference

The class Image contains all image- and object space positions of the reference points and the robot location in the respective images. More...

Public Member Functions
def	take_image (self)
	Get image from camera.
def	load_image (self, fname, swop=True)
	Load image from file. More...
def	get_newest (self, dirname, fname)
	Get newest file in directory "dirname" starting with "fname" and camera number. More...
def	read_ref (self, dirname, fname, m)
	Get reference point img positions from newest file in directory 'dirname'.
def	read_pos (self, dirname, fname)
	Get newest robot position from pos_img file of this camera.
def	augment (self, pt, z='')
	Add third dimension to points (ones if not specified)
def	get_robotimage (self, R, THRESH, MIN, MAX, save=0, out_dir='', TIME=0, loop='')
	Finds robot position in image using perspective.imagepoints(). More...
def	get_refimage (self, R, THRESH, MIN, MAX, NPTS, save=0, out_dir='', TIME=0, loop='')
	Finds reference position in image using perspective.imagepoints() More...

Public Attributes
	n
	Camera IP number.
	ref_img
	reference image points.
	ref_obj
	reference object points.
	r_img
	robot image point.
	r_obj
	robot object point.
	r_truth
	robot real position.

Detailed Description

The class Image contains all image- and object space positions of the reference points and the robot location in the respective images.

Member Function Documentation

def calibrate.Image.get_newest	(		self,
			dirname,
			fname
	)

Get newest file in directory "dirname" starting with "fname" and camera number.

Parameters:

dirname: directory where file is to be searched for.

fname: start of filename (will be followed by camera number)

Returns:

Full relative path to newest file

def calibrate.Image.get_refimage	(		self,
			R,
			THRESH,
			MIN,
			MAX,
			NPTS,
			save = 0,
			out_dir = '',
			TIME = 0,
			loop = ''
	)

Finds reference position in image using perspective.imagepoints()

Parameters:

R,NPTS,THRESH,MIN,MAX: parameters used by perspective.imagepoints()

save: set to 1 if you wish to save results (images)

out_dir: directory where to save images.

TIME: start time of program (for file naming)

Returns:

Nothing

def calibrate.Image.get_robotimage	(		self,
			R,
			THRESH,
			MIN,
			MAX,
			save = 0,
			out_dir = '',
			TIME = 0,
			loop = ''
	)

Finds robot position in image using perspective.imagepoints().

Parameters:

R,THRESH,MIN,MAX: parameters used by perspective.imagepoints().

save: set to 1 if you wish to save results (images)

out_dir: directory where to save images.

TIME: start time of program (for file naming)

Returns:

Nothing

def calibrate.Image.load_image	(		self,
			fname,
			swop = True
	)

Load image from file.

Parameters:

fname: path to picture to be loaded

swop: if True, picture will be converted from BGR(cv2 default) to RGB (matplotlib default)

Returns:

None (updates self.img)

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

• calibrate.py