CVCalibration.cpp File Reference

#include <CVCalibration.h>
#include <Utils.h>
#include <HighResTimer.h>
#include <utility>

Include dependency graph for CVCalibration.cpp:

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Functions
void	getInnerAndOuterRectangles (const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const cv::Mat &R, const cv::Mat &newCameraMatrix, const cv::Size &imgSize, cv::Rect_< float > &inner, cv::Rect_< float > &outer)
	get inscribed and circumscribed rectangle More...

Detailed Description

Date

Winter 2016

Remarks

Please use clangformat to format the code. See more code style on https://github.com/cpvrlab/SLProject4/wiki/SLProject-Coding-Style

Authors

Marcus Hudritsch, Michael Goettlicher

Copyright

http://opensource.org/licenses/GPL-3.0

Definition in file CVCalibration.cpp.

Function Documentation

getInnerAndOuterRectangles()

void getInnerAndOuterRectangles	(	const cv::Mat &	cameraMatrix,
		const cv::Mat &	distCoeffs,
		const cv::Mat &	R,
		const cv::Mat &	newCameraMatrix,
		const cv::Size &	imgSize,
		cv::Rect_< float > &	inner,
		cv::Rect_< float > &	outer
	)

get inscribed and circumscribed rectangle

Definition at line 284 of file CVCalibration.cpp.

{
    const int N = 9;
    // Fill matrix with N * N sampling points
    cv::Mat pts(N * N, 2, CV_32F);
    for (int y = 0, k = 0; y < N; y++)
    {
        for (int x = 0; x < N; x++)
        {
            pts.at<float>(k, 0) = (float)x * (float)imgSize.width / (N - 1);
            pts.at<float>(k, 1) = (float)y * (float)imgSize.height / (N - 1);
            k++;
        }
    }
 
    pts = pts.reshape(2);
    cv::undistortPoints(pts,
                        pts,
                        cameraMatrix,
                        distCoeffs,
                        R,
                        newCameraMatrix);
    pts = pts.reshape(1);
 
    float iX0 = -FLT_MAX, iX1 = FLT_MAX, iY0 = -FLT_MAX, iY1 = FLT_MAX;
    float oX0 = FLT_MAX, oX1 = -FLT_MAX, oY0 = FLT_MAX, oY1 = -FLT_MAX;
    // find the inscribed rectangle.
    // the code will likely not work with extreme rotation matrices (R) (>45%)
    for (int y = 0, k = 0; y < N; y++)
        for (int x = 0; x < N; x++)
        {
            cv::Point2f p = {pts.at<float>(k, 0),
                             pts.at<float>(k, 1)};
            oX0           = MIN(oX0, p.x);
            oX1           = MAX(oX1, p.x);
            oY0           = MIN(oY0, p.y);
            oY1           = MAX(oY1, p.y);
 
            if (x == 0)
                iX0 = MAX(iX0, p.x);
            if (x == N - 1)
                iX1 = MIN(iX1, p.x);
            if (y == 0)
                iY0 = MAX(iY0, p.y);
            if (y == N - 1)
                iY1 = MIN(iY1, p.y);
            k++;
        }
    inner = cv::Rect_<float>(iX0, iY0, iX1 - iX0, iY1 - iY0);
    outer = cv::Rect_<float>(oX0, oY0, oX1 - oX0, oY1 - oY0);
}