Module localizer

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Detailed Description

Version:

1.0

Author:

nizar.sallem@laas.fr

This module is a port in jafar of Tsai algorithms' previously implemented in calife.

Tsai algorithms were designed primarily to calibrate cameras, especially they offers a fast computation of extrinsics parameters since they are based on breaking transition matrix in translation and rotation parts then linear solving for rotation.

Here we use these algorithms for localizing an object or whatever is described by a set of 3D points and their corresponding projections in camera frame.

The original article is attached as Tsai.pdf in the doc folder.

History

• 0.1 (2008-03-20) - Initial version
• 0.5 (2008-04-03) - Write test class
• 0.7 (2008-06-15) - Write OpenCV localizer
• 0.9 (2009-02-20) - Change name from objlocalizer to localizer
• 1.0 (2009-02-23) - Localizers accepts points from geom modules

Requirements

kernel jmath geom opencv

Macro

TODO write macros

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• localizer.i defines the wrapped classes and functions,
• localizerException.i defines the try { } catch block for this module.

Classes
class	jafar::localizer::Localizer
	Class Localizer, should be a wrap to opencv localizer functionnality TODO make it inherit from a generic localizer /!\ WARNING it is not tested yet /!\ will be rewritten soon. More...
class	jafar::localizer::LocalizerException
	Base class for all exceptions defined in the module localizer. More...
class	jafar::localizer::PlanLocalizer
	Class PlanLocalizer This class is able to compute the transformation matrix between two plan (images). More...
class	jafar::localizer::Point2d3d
	Class Point2d3d used to save 2D and 3D coordinates of the same point respectively in the camera, and world frames. More...
class	jafar::localizer::TsaiLocalizer
	Class TsaiLocalizer, mother class for Tasai2dLocalizer and Tsai3dLocalizer It's a reimplementation in jafar of calife TSAI2D_ext and TSAI3D_ext We choosed to make profit of inheritance mechanism to represent the above classes It uses camera's intrinsic parametes and linear least square resolver to compute the transition matrix. More...
class	jafar::localizer::Tsai2dLocalizer
	Class Tsai2d, used to save image and localisation data. More...
class	jafar::localizer::Tsai3dLocalizer
	Class Tsai3d, used to compute a trsanformation matrix in 3D. More...