micron-vision: calibration.hh Source File

00001 #ifndef __CALIBRATION_H
00002 #define __CALIBRATION_H
00003 
00004 #include <boost/shared_ptr.hpp>
00005 #include <mimas/mm_object.h>
00006 #include <mimas/mm_xml_reference.h>
00007 #include "mi_pose.hh"
00008 
00012 class calibration: public mimas::mm_object
00013 {
00014 public:
00018   calibration( const mimas::mm_xml_reference< XalanElement >
00019                &calibration_node ) throw (mimas::mm_exception);
00021   int get_width(void) const { return width; }
00023   int get_height(void) const { return height; }
00025   void set_width( int _width ) { width = _width; }
00027   void set_height( int _height ) { height = _height; }
00029   int get_middle_x(void) const { return width / 2; }
00031   int get_middle_y(void) const { return height / 2; }
00034   double get_pixel_size(void) const
00035     { return pixel_size / get_scale(); }
00037   double get_focus_distance(void) const
00038     { return focus_distance + focus_shift * steps; }
00040   void setSteps( int _steps ) { steps = _steps; }
00042   int getSteps(void) const { return steps; }
00044   double get_scale(void) const
00045     { return 1.0 + scale_change * steps; }
00046 protected:
00048   int steps;
00050   int width;
00052   int height;
00054   double pixel_size;
00056   double focus_distance;
00058   double focus_shift;
00060   double scale_change;
00061 };
00062 
00064 typedef boost::shared_ptr< calibration > calibration_ptr;
00065 
00066 #endif