Visual Servoing Platform version 3.6.0
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vpCalibration.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Camera calibration.
32 */
33
42#ifndef vpCalibration_h
43#define vpCalibration_h
44
45#include <list>
46#include <vector>
47#include <visp3/core/vpCameraParameters.h>
48#include <visp3/core/vpDisplay.h>
49#include <visp3/core/vpExponentialMap.h>
50#include <visp3/core/vpHomogeneousMatrix.h>
51#include <visp3/core/vpImage.h>
52#include <visp3/core/vpImagePoint.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpMatrix.h>
55#include <visp3/vision/vpCalibrationException.h>
63class VISP_EXPORT vpCalibration
64{
65public:
69 typedef enum
70 {
71 CALIB_LAGRANGE,
73 CALIB_VIRTUAL_VS,
76 CALIB_VIRTUAL_VS_DIST,
78 CALIB_LAGRANGE_VIRTUAL_VS,
81 CALIB_LAGRANGE_VIRTUAL_VS_DIST,
84 } vpCalibrationMethodType;
85
103
120
121public:
126
131
135 virtual ~vpCalibration();
136
142 int addPoint(double X, double Y, double Z, vpImagePoint &ip);
143
149 vpCalibration &operator=(const vpCalibration &twinCalibration);
150
151#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
156 vp_deprecated static void calibrationTsai(const std::vector<vpHomogeneousMatrix> &cMo,
157 const std::vector<vpHomogeneousMatrix> &rMe, vpHomogeneousMatrix &eMc);
158 vp_deprecated static int computeCalibrationTsai(const std::vector<vpCalibration> &table_cal, vpHomogeneousMatrix &eMc,
159 vpHomogeneousMatrix &eMc_dist);
161#endif
162
166 int clearPoint();
167
179 int computeCalibration(vpCalibrationMethodType method, vpHomogeneousMatrix &cMo_est, vpCameraParameters &cam_est,
180 bool verbose = false);
181
196 static int computeCalibrationMulti(vpCalibrationMethodType method, std::vector<vpCalibration> &table_cal,
197 vpCameraParameters &cam_est, double &globalReprojectionError, bool verbose = false);
198
207 void computeStdDeviation(double &deviation, double &deviation_dist);
208
218 double computeStdDeviation(const vpHomogeneousMatrix &cMo_est, const vpCameraParameters &camera);
219
228 double computeStdDeviation_dist(const vpHomogeneousMatrix &cMo_est, const vpCameraParameters &camera);
229
240 int displayData(vpImage<unsigned char> &I, vpColor color = vpColor::red, unsigned int thickness = 1,
241 int subsampling_factor = 1);
242
253 int displayGrid(vpImage<unsigned char> &I, vpColor color = vpColor::yellow, unsigned int thickness = 1,
254 int subsampling_factor = 1);
255
257 static double getLambda() { return gain; }
258
262 double getResidual(void) const { return residual; }
263
267 double getResidual_dist(void) const { return residual_dist; }
268
272 unsigned int get_npt() const { return npt; }
273
277 int init();
278
285 int readData(const std::string &filename);
286
302 static int readGrid(const std::string &filename, unsigned int &n, std::list<double> &oX, std::list<double> &oY,
303 std::list<double> &oZ, bool verbose = false);
304
308 static void setLambda(const double &lambda) { gain = lambda; }
309
316 void setAspectRatio(double aspect_ratio);
317
325 int writeData(const std::string &filename);
326
327private:
328 void computePose(const vpCameraParameters &cam, vpHomogeneousMatrix &cMo);
329 void calibLagrange(vpCameraParameters &cam, vpHomogeneousMatrix &cMo);
330
332 void calibVVS(vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool verbose = false);
333
334 static void calibVVSMulti(unsigned int nbPose, vpCalibration table_cal[], vpCameraParameters &cam,
335 bool verbose = false, double aspect_ratio = -1);
336 static void calibVVSMulti(std::vector<vpCalibration> &table_cal, vpCameraParameters &cam,
337 double &globalReprojectionError, bool verbose = false, double aspect_ratio = -1);
338 void calibVVSWithDistortion(vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool verbose = false);
339 static void calibVVSWithDistortionMulti(unsigned int nbPose, vpCalibration table_cal[], vpCameraParameters &cam,
340 bool verbose = false, double aspect_ratio = -1);
341 static void calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal, vpCameraParameters &cam,
342 double &globalReprojectionError, bool verbose = false,
343 double aspect_ratio = -1);
344
345private:
346 unsigned int npt;
347 std::list<double> LoX, LoY,
348 LoZ;
349 std::list<vpImagePoint> Lip;
350
351 double residual;
352 double residual_dist;
354
355 static double threshold;
356 static unsigned int nbIterMax;
357 static double gain;
358};
359
360#endif
Tools for perspective camera calibration.
static void setLambda(const double &lambda)
static double getLambda()
Set the gain for the virtual visual servoing algorithm.
unsigned int get_npt() const
double m_aspect_ratio
double getResidual(void) const
vpHomogeneousMatrix eMc_dist
vpHomogeneousMatrix rMe
vpHomogeneousMatrix cMo
vpCameraParameters cam_dist
double getResidual_dist(void) const
vpHomogeneousMatrix eMc
vpHomogeneousMatrix cMo_dist
vpCameraParameters cam
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor red
Definition vpColor.h:211
static const vpColor yellow
Definition vpColor.h:219
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135