gusucode.com > vision工具箱matlab源码程序 > vision/+vision/+internal/+calibration/+tool/BoardSet.m
% BoardSet Stores all information about checkerboard images
%
% This class stores the file names from which checkerboards were
% extracted as well as checkerboard world points and detected key
% points.
% Copyright 2012-2013 The MathWorks, Inc.
classdef BoardSet < handle
properties(Access=private, Hidden)
Version = ver('vision');
end
properties(GetAccess=public, SetAccess=private)
FullPathNames = {};
BoardSize = [];
BoardPoints
WorldPoints
Units
SquareSize
BoardLabels % labels displayed in the data browser
BoardIcons % icons displayed in the data browser
LastNonDetectedPathNames = {};
NumBoards = 0;
end
properties(Dependent)
IsStereo;
end
methods
%------------------------------------------------------------------
function isStereo = get.IsStereo(this)
isStereo = size(this.FullPathNames, 1) == 2;
end
end
%----------------------------------------------------------------------
methods (Access=public)
function this = BoardSet(fileNames, squareSize, units)
% begin by inspecting image size consistency
this.checkImageSizes(fileNames);
% proceed with adding the boards
this.FullPathNames = fileNames;
this.SquareSize = squareSize;
this.Units = units;
% set board labels by picking the file names without the path
this.NumBoards = size(fileNames, 2);
this.BoardLabels = cell(1, this.NumBoards);
for i = 1:this.NumBoards
this.BoardLabels{i} = makeLabel(this, fileNames(:, i));
end
% Detect checkerboard points
delIdx = this.detectPointsForNewSession();
this.deleteRejectedBoards(delIdx);
this.generateIcons();
% Derive the world points from board dimensions
this.WorldPoints = ...
generateCheckerboardPoints(this.BoardSize, this.SquareSize);
end
%------------------------------------------------------------------
function numDuplicates = addBoards(this, fileNames)
% check image consistency
this.checkImageSizes(fileNames);
% proceed with adding images
numOldImages = this.NumBoards;
numNewImages = size(fileNames, 2);
waitBar = ...
vision.internal.calibration.checkerboard.DetectionProgressBar(numNewImages);
numDuplicates = 0;
this.LastNonDetectedPathNames = cell(size(fileNames, 1), 0);
for i = 1:numNewImages
if waitBar.Canceled
rollback(this, numOldImages);
error(message('vision:uitools:LoadingCanceledByUser'));
end
if this.isDuplicateFileName(fileNames(:, i))
numDuplicates = numDuplicates + 1;
continue;
end
if this.IsStereo
[points, boardSize] = detectCheckerboardPoints(...
fileNames{1, i}, fileNames{2, i});
else
[points, boardSize] = detectCheckerboardPoints(fileNames{i});
end
if isequal(boardSize, this.BoardSize)
this.addOneBoard(fileNames(:, i), points);
else
this.LastNonDetectedPathNames(:, end+1) = fileNames(:, i);
end
waitBar.update();
end
this.generateIcons();
end
%------------------------------------------------------------------
function board = getBoard(this, boardIndex)
board.boardSize = this.BoardSize;
board.fileName = this.FullPathNames(:, boardIndex);
board.label = this.BoardLabels{boardIndex};
board.detectedPoints = this.BoardPoints(:,:,boardIndex, :);
end
%------------------------------------------------------------------
function removeBoard(this, boardIndex)
this.BoardLabels(boardIndex) = [];
this.BoardIcons(boardIndex) = [];
this.FullPathNames(:, boardIndex) = [];
this.BoardPoints(:,:,boardIndex, :) = [];
this.NumBoards = this.NumBoards - length(boardIndex);
end
%------------------------------------------------------------------
function reset(this)
this.FullPathNames = [];
this.LastNonDetectedPathNames = {};
this.BoardSize = [];
this.BoardPoints = [];
this.WorldPoints = [];
this.BoardLabels = {};
this.BoardIcons = [];
this.NumBoards = 0;
end
%------------------------------------------------------------------
% This method should be called after the BoardSet is loaded from a
% MAT file to check that all the images can be found at their
% specified locations
%------------------------------------------------------------------
function checkImagePaths(this, currentSessionFilePath,...
atSavingTimeFullSessionFileName)
% verify that all the images are present; adjust path if
% necessary
for i=1:numel(this.FullPathNames)
if ~exist(this.FullPathNames{i},'file')
this.FullPathNames{i} = vision.internal.uitools.tryToAdjustPath(...
this.FullPathNames{i}, currentSessionFilePath, ...
atSavingTimeFullSessionFileName);
end
end
end
end % public methods
%----------------------------------------------------------------------
methods (Access=private)
function label = makeLabel(this, fileNames)
[~,fname, ext] = fileparts(fileNames{1, 1});
fileName1 = [fname, ext];
if this.IsStereo
[~,fname, ext] = fileparts(fileNames{2, 1});
fileName2 = [fname, ext];
label = [fileName1, ' & ', fileName2];
else
label = fileName1;
end
end
%------------------------------------------------------------------
% checks image size consistency
function checkImageSizes(this, fileNames)
isBrandNewSession = (this.NumBoards == 0);
% get base image size
if isBrandNewSession
% use the very first image
imInfoBase = imfinfo(fileNames{1});
else
% use an already loaded image
imInfoBase = imfinfo(this.FullPathNames{1});
end
for i=1:numel(fileNames)
imInfo = imfinfo(fileNames{i});
if (imInfoBase.Width ~= imInfo.Width) || ...
(imInfoBase.Height ~= imInfo.Height)
% issue an error message
error(message('vision:caltool:imageSizeInconsistent'));
end
end
end
%------------------------------------------------------------------
function addOneBoard(this, fileName, points)
% for a single camera fileName is a cell array of 1 element
% for a stereo camera fileName is a cell array of 2 elements
this.BoardPoints(:, :, end+1, :) = points;
this.FullPathNames(:, end+1) = fileName;
this.BoardLabels{end+1} = makeLabel(this, fileName);
this.NumBoards = this.NumBoards + 1;
end
%------------------------------------------------------------------
function rollback(this, numBoardsToKeep)
this.FullPathNames = this.FullPathNames(1:numBoardsToKeep);
this.BoardPoints = this.BoardPoints(:, :, 1:numBoardsToKeep);
this.BoardLabels = this.BoardLabels(1:numBoardsToKeep);
this.BoardIcons = this.BoardIcons(1:numBoardsToKeep);
this.NumBoards = numBoardsToKeep;
end
%------------------------------------------------------------------
function tf = isDuplicateFileName(this, fileName)
tf = false;
if any(strcmp(fileName{1}, this.FullPathNames(1, :)))
tf = true;
return;
end
if this.IsStereo && any(strcmp(fileName{2}, this.FullPathNames(2, :)))
tf = true;
return;
end
end
%------------------------------------------------------------------
function delIdx = detectPointsForNewSession(this)
if this.IsStereo
[boardPoints, boardSize, goodBoardIdx, userCanceled] = ...
detectCheckerboardPoints(this.FullPathNames(1, :), ...
this.FullPathNames(2, :), 'ShowProgressBar', true);
else
[boardPoints, boardSize, goodBoardIdx, userCanceled] = ...
detectCheckerboardPoints(this.FullPathNames, 'ShowProgressBar', true);
end
if userCanceled
error(message('vision:uitools:LoadingCanceledByUser'));
end
if isempty(boardPoints)
error(message('vision:caltool:zeroBoards'));
end
delIdx = ~goodBoardIdx;
this.BoardPoints = boardPoints;
this.BoardSize = boardSize;
end
%------------------------------------------------------------------
function deleteRejectedBoards(this, delIdx)
% store file names of the images where boards were not
% detected; this is used for reporting
this.LastNonDetectedPathNames = this.FullPathNames(:, delIdx);
this.NumBoards = size(this.BoardPoints, 3);
this.BoardLabels(delIdx) = [];
this.FullPathNames(:, delIdx) = [];
end
%------------------------------------------------------------------
function generateIcons(this)
thumbnailHeight = 72;
for i = 1:this.NumBoards
if size(this.FullPathNames, 1) == 1
im = imread(this.FullPathNames{i});
im = imresize(im, [thumbnailHeight, NaN]);
else
im1 = imread(this.FullPathNames{1, i});
im2 = imread(this.FullPathNames{2, i});
im = vision.internal.calibration.tool.fuseWithSeparator(...
imresize(im1, [thumbnailHeight, NaN]), ...
imresize(im2, [thumbnailHeight, NaN]));
end
javaImage = im2java2d(im);
icon = javax.swing.ImageIcon(javaImage);
icon.setDescription(this.BoardLabels(i));
this.BoardIcons{i} = icon;
end
end
end
%----------------------------------------------------------------------
% saveobj and loadobj are implemented to ensure compatibility across
% releases even if architecture of BoardSet class changes
methods (Hidden)
function thisOut = saveobj(this)
thisOut = this;
end
end
%----------------------------------------------------------------------
methods (Static, Hidden)
function thisOut = loadobj(this)
thisOut = this;
end
end % methods(static, hidden)
end