Interface object for camera calibration and correction of image distortion. More...

#include <CameraCalibrator.h>

Classes
struct	CalibrationSettings
	Сalibration process settings. More...

Public Types
typedef LightSmartPtr < CameraCalibrator >::tPtr	Ptr
	Alias for the type of a smart pointer to CameraCalibrator.

Public Member Functions
void	initCalibration (const CalibrationSettings settings)
	Initialize the calibration process. All previous accepted patterns will be removed. More...

void	addImage (const RawImage image, bool pattern_found, bool pattern_accepted, std::vector< Point > *pattern_points)
	Search a pattern in the image and store it. More...

float	getPatternSpaceCoverProgress () const
	Evaluate covering of the pattern space to get more accurate calibration. More...

std::vector< Point >	getTip ()
	Get a tip where to put a pattern in the image to get a better pattern space coverage. More...

bool	calibrate (const int max_used_patterns_count, float *reprojection_error)
	Calibrate the camera. More...

IRawImage::Ptr	undistort (const RawImage image, const float alpha) const
	Correct the image distortion using the calibrated or loaded camera parameters. More...

void	saveCameraParameters (std::ostream &binary_stream) const
	Save the calibrated camera parameters to binary_stream. The format is platform-independent. More...

void	saveCameraParameters (pbio::stl_wraps::WrapOStream &binary_stream) const
	Save the calibrated camera parameters to binary_stream. The format is platform-independent. More...

void	loadCameraParameters (std::istream &binary_stream)
	Load the calibrated camera parameters from binary_stream. The format is platform-independent. More...

void	loadCameraParameters (pbio::stl_wraps::WrapIStream &binary_stream)
	Load the calibrated camera parameters from binary_stream. The format is platform-independent. More...

Detailed Description

Interface object for camera calibration and correction of image distortion.

Member Function Documentation

void pbio::CameraCalibrator::addImage	(	const RawImage	image,
		bool *	pattern_found,
		bool *	pattern_accepted,
		std::vector< Point > *	pattern_points
	)

inline

Search a pattern in the image and store it.

Parameters

[in]	image	An image or a videoframe.
[out]	pattern_found	The pattern was successfully found in a given image. Can be NULL.
[out]	pattern_accepted	The found pattern was accepted (i.e., it differs significantly from the patterns already accepted). Can be NULL.
[out]	pattern_points	Points of a detected pattern. Can be NULL.

bool pbio::CameraCalibrator::calibrate	(	const int	max_used_patterns_count,
		float *	reprojection_error
	)

inline

Calibrate the camera.

Parameters

[in]	max_used_patterns_count	Maximum number of patterns to use for calculation. If more patterns are accepted, the subset covering the pattern space best will be used. The recommended value is 50.
[out]	reprojection_error	Average reprojection error. Normal values are about 1 or lower.

Returns: true, if the calibration was successful, otherwise false.

float pbio::CameraCalibrator::getPatternSpaceCoverProgress ( ) const

inline

Evaluate covering of the pattern space to get more accurate calibration.

Returns: A real number from 0 to 1.

std::vector< Point > pbio::CameraCalibrator::getTip ( )

inline

Get a tip where to put a pattern in the image to get a better pattern space coverage.

Returns: An empty vector if the tip is not ready, or a vector of pattern points.

void pbio::CameraCalibrator::initCalibration ( const CalibrationSettings settings )

inline

Initialize the calibration process. All previous accepted patterns will be removed.

Parameters

[in] settings Calibration process settings.

void pbio::CameraCalibrator::loadCameraParameters ( std::istream & binary_stream )

inline

Load the calibrated camera parameters from binary_stream. The format is platform-independent.

Parameters

[in] binary_stream Input stream object. The file stream (std::ifstream) must be opened with the std::ios_base::binary flag.

void pbio::CameraCalibrator::loadCameraParameters ( pbio::stl_wraps::WrapIStream & binary_stream )

inline

Load the calibrated camera parameters from binary_stream. The format is platform-independent.

Parameters

[in] binary_stream Input stream object. The file stream (std::ifstream) must be opened with the std::ios_base::binary flag.

void pbio::CameraCalibrator::saveCameraParameters ( std::ostream & binary_stream ) const

inline

Save the calibrated camera parameters to binary_stream. The format is platform-independent.

Parameters

[out] binary_stream Output stream object. The file stream (std::ofstream) must be opened with the std::ios_base::binary flag.

void pbio::CameraCalibrator::saveCameraParameters ( pbio::stl_wraps::WrapOStream & binary_stream ) const

inline

Save the calibrated camera parameters to binary_stream. The format is platform-independent.

Parameters

[out] binary_stream Output stream object. The file stream (std::ofstream) must be opened with the std::ios_base::binary flag.

IRawImage::Ptr pbio::CameraCalibrator::undistort	(	const RawImage	image,
		const float	alpha
	)		const

inline

Correct the image distortion using the calibrated or loaded camera parameters.

Parameters

[in]	image	An image or a videoframe. The size can differ from the size of the images used for calibration. I.e. you can calibrate a camera once with one resolution and then calibrate the distortion of images from the same camera with any resolution.
[in]	alpha	A real value from 0 (the result image contains only valid pixels (no black areas)) to 1 (all pixels from the original image are stored in the result image (no source image pixels are lost)). Intermediate values yield an intermediate result between those two extreme cases.

Returns: Undistorted image of the same size and type as the source image.

Classes

Public Types

Public Member Functions

Detailed Description

Member Function Documentation