#include <SENSCalibration.h>

Public Types
enum class	State { uncalibrated , calibrated , guessed }

Public Member Functions
	SENSCalibration (const cv::Mat &cameraMat, const cv::Mat &distortion, cv::Size imageSize, cv::Size boardSize, float boardSquareMM, float reprojectionError, int numCaptured, const string &calibrationTime, int camSizeIndex, bool mirroredH, bool mirroredV, SENSCameraType camType, string computerInfos, int calibFlags, bool calcUndistortionMaps)
	creates a fully defined calibration More...

	SENSCalibration (const cv::Size &imageSize, float fovH, bool mirroredH, bool mirroredV, SENSCameraType type, string computerInfos)
	creates a guessed calibration using image size and fovV angle More...

	SENSCalibration (float sensorWMM, float sensorHMM, float focalLengthMM, const cv::Size &imageSize, bool mirroredH, bool mirroredV, SENSCameraType camType, string computerInfos)
	create a guessed calibration using sensor size, camera focal length and captured image size More...

	SENSCalibration (const cv::Mat &intrinsics, const cv::Size &imageSize, bool mirroredH, bool mirroredV, SENSCameraType camType, const string &computerInfos)
	create a calibration using a known camera matrix (intrinsics) without distortion parameters More...

	SENSCalibration (const string &calibDir, const string &calibFileName, bool calcUndistortionMaps)
	??? More...

	~SENSCalibration ()
	destructor More...

	SENSCalibration (const SENSCalibration &other)
	copy constructor More...

SENSCalibration &	operator= (const SENSCalibration &other)
	copy assignment operator implicitly defined More...

bool	save (const string &calibDir, const string &calibFileName)
	Saves the camera calibration parameters to the config file. More...

void	remap (cv::Mat &inDistorted, cv::Mat &outUndistorted) const
	Undistorts the inDistorted image into the outUndistorted. More...

void	adaptForNewResolution (const cv::Size &newSize, bool calcUndistortionMaps)
	Adapts an already calibrated camera to a new resolution (cropping and scaling) More...

void	buildUndistortionMaps ()
	Builds undistortion maps after calibration or loading. More...

cv::Size	imageSize () const

cv::Size	imageSizeOriginal () const

float	imageAspectRatio () const

const cv::Mat &	cameraMat () const

const cv::Mat &	cameraMatUndistorted () const

const cv::Mat &	distortion () const

float	cameraFovVDeg () const

float	cameraFovHDeg () const

int	calibrationFlags () const

bool	calibFixPrincipalPoint ()

bool	calibFixAspectRatio ()

bool	calibZeroTangentDist ()

bool	calibRationalModel ()

bool	calibTiltedModel ()

bool	calibThinPrismModel ()

bool	isMirroredH () const

bool	isMirroredV () const

bool	undistortMapsValid () const

float	fx () const

float	fy () const

float	cx () const

float	cy () const

float	k1 () const

float	k2 () const

float	p1 () const

float	p2 () const

float	k3 () const

float	k4 () const

float	k5 () const

float	k6 () const

float	s1 () const

float	s2 () const

float	s3 () const

float	s4 () const

float	tauX () const

float	tauY () const

SENSCameraType	camType () const

State	state () const

int	numCapturedImgs () const

float	reprojectionError () const

cv::Size	boardSize () const

float	boardSquareMM () const

float	boardSquareM () const

string	calibrationTime () const

string	calibFileName () const

string	computerInfos () const

string	stateStr () const

void	calcCameraFovFromUndistortedCameraMat ()
	Calculates the vertical field of view angle in degrees. More...

void	calculateUndistortedCameraMat ()
	Calculate a camera matrix that we use for the scene graph and for the reprojection of the undistored image. More...

Static Public Member Functions
static 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...

Private Member Functions
bool	load (const string &calibDir, const string &calibFileName, bool calcUndistortionMaps)
	Loads the calibration information from the config file. More...

void	createFromGuessedFOV (int imageWidthPX, int imageHeightPX, float fovH)
	Calculates camera intrinsics from a guessed FOV angle. More...

Private Attributes
cv::Mat	_cameraMat
	3x3 Matrix for intrinsic camera matrix More...

cv::Mat	_distortion
	4x1 Matrix for intrinsic distortion More...

cv::Mat	_cameraMatOrig
	3x3 Matrix for intrinsic camera matrix (original from loading or calibration estimation) More...

cv::Size	_imageSizeOrig
	original image size (original from loading or calibration estimation) More...

State	_state = State::uncalibrated
	calibration state enumeration More...

float	_cameraFovVDeg = 0.0f
	Vertical field of view in degrees. More...

float	_cameraFovHDeg = 0.0f
	Horizontal field of view in degrees. More...

string	_calibFileName
	name for calibration file More...

int	_calibFlags = 0
	OpenCV calibration flags. More...

bool	_isMirroredH = false
	Flag if image must be horizontally mirrored. More...

bool	_isMirroredV = false
	Flag if image must be vertically mirrored. More...

int	_numCaptured = 0
	NO. of images captured. More...

cv::Size	_boardSize
	NO. of inner chessboard corners. More...

float	_boardSquareMM = 20.f
	Size of chessboard square in mm. More...

float	_reprojectionError = -1.0f
	Reprojection error after calibration. More...

cv::Size	_imageSize
	Input image size in pixels (after cropping) More...

int	_camSizeIndex = -1
	The requested camera size index. More...

cv::Mat	_undistortMapX
	Undistortion float map in x-direction. More...

cv::Mat	_undistortMapY
	Undistortion float map in y-direction. More...

cv::Mat	_cameraMatUndistorted

string	_calibrationTime = "-"
	Time stamp string of calibration. More...

string	_computerInfos

SENSCameraType	_camType = SENSCameraType::FRONTFACING

Static Private Attributes
static const int	_CALIBFILEVERSION = 6
	Global const file format version. More...

Detailed Description

Definition at line 18 of file SENSCalibration.h.

Member Enumeration Documentation

◆ State

enum SENSCalibration::State

strong

Enumerator
uncalibrated	The camera is not calibrated (no calibration found)
calibrated	The camera is calibrated (mainly this means it has distortion coeffs)
guessed	The camera intrinsics where estimated from FOV.

Definition at line 21 of file SENSCalibration.h.

     {
         uncalibrated, //!< The camera is not calibrated (no calibration found)
         calibrated,   //!< The camera is calibrated (mainly this means it has distortion coeffs)
         guessed,      //!< The camera intrinsics where estimated from FOV
     };

Constructor & Destructor Documentation

◆ SENSCalibration() [1/6]

SENSCalibration::SENSCalibration	(	const cv::Mat &	cameraMat,
		const cv::Mat &	distortion,
		cv::Size	imageSize,
		cv::Size	boardSize,
		float	boardSquareMM,
		float	reprojectionError,
		int	numCaptured,
		const string &	calibrationTime,
		int	camSizeIndex,
		bool	mirroredH,
		bool	mirroredV,
		SENSCameraType	camType,
		string	computerInfos,
		int	calibFlags,
		bool	calcUndistortionMaps
	)

creates a fully defined calibration

◆ SENSCalibration() [2/6]

SENSCalibration::SENSCalibration	(	const cv::Size &	imageSize,
		float	fovH,
		bool	mirroredH,
		bool	mirroredV,
		SENSCameraType	type,
		string	computerInfos
	)

creates a guessed calibration using image size and fovV angle

◆ SENSCalibration() [3/6]

SENSCalibration::SENSCalibration	(	float	sensorWMM,
		float	sensorHMM,
		float	focalLengthMM,
		const cv::Size &	imageSize,
		bool	mirroredH,
		bool	mirroredV,
		SENSCameraType	camType,
		string	computerInfos
	)

create a guessed calibration using sensor size, camera focal length and captured image size

◆ SENSCalibration() [4/6]

SENSCalibration::SENSCalibration	(	const cv::Mat &	intrinsics,
		const cv::Size &	imageSize,
		bool	mirroredH,
		bool	mirroredV,
		SENSCameraType	camType,
		const string &	computerInfos
	)

create a calibration using a known camera matrix (intrinsics) without distortion parameters

◆ SENSCalibration() [5/6]

SENSCalibration::SENSCalibration	(	const string &	calibDir,
		const string &	calibFileName,
		bool	calcUndistortionMaps
	)

???

◆ ~SENSCalibration()

SENSCalibration::~SENSCalibration ( )

inline

destructor

Definition at line 76 of file SENSCalibration.h.

77 {

78 }

◆ SENSCalibration() [6/6]

SENSCalibration::SENSCalibration ( const SENSCalibration & other )

inline

copy constructor

Definition at line 81 of file SENSCalibration.h.

       : _cameraMat(other._cameraMat.clone()),
         _distortion(other._distortion.clone()),
         _cameraMatOrig(other._cameraMatOrig.clone()),
         _imageSizeOrig(other._imageSizeOrig),
         _state(other._state),
         _cameraFovVDeg(other._cameraFovVDeg),
         _cameraFovHDeg(other._cameraFovHDeg),
         _calibFileName(other._calibFileName),
         _calibFlags(other._calibFlags),
         _isMirroredH(other._isMirroredH),
         _isMirroredV(other._isMirroredV),
         _numCaptured(other._numCaptured),
         _boardSize(other._boardSize),
         _boardSquareMM(other._boardSquareMM),
         _reprojectionError(other._reprojectionError),
         _imageSize(other._imageSize),
         _camSizeIndex(other._camSizeIndex),
         _undistortMapX(other._undistortMapX.clone()),
         _undistortMapY(other._undistortMapY.clone()),
         _cameraMatUndistorted(other._cameraMatUndistorted.clone()),
         _calibrationTime(other._calibrationTime),
         _computerInfos(other._computerInfos),
         _camType(other._camType)
     {
     }

Member Function Documentation

◆ adaptForNewResolution()

void SENSCalibration::adaptForNewResolution	(	const cv::Size &	newSize,
		bool	calcUndistortionMaps
	)

Adapts an already calibrated camera to a new resolution (cropping and scaling)

Definition at line 443 of file SENSCalibration.cpp.

 {
     if (_state == State::uncalibrated)
         return;
  
     // new center and focal length in pixels not mm
     float fx, fy, cy, cx;
  
     // use original camera matrix for adaptions.
     // Otherwise we get rounding errors after too many adaptions.
     float fxOrig = (float)_cameraMatOrig.at<double>(0, 0);
     float fyOrig = (float)_cameraMatOrig.at<double>(1, 1);
     float cxOrig = (float)_cameraMatOrig.at<double>(0, 2);
     float cyOrig = (float)_cameraMatOrig.at<double>(1, 2);
  
     if (((float)newSize.width / (float)newSize.height) >
         ((float)_imageSizeOrig.width / (float)_imageSizeOrig.height))
     {
         float scaleFactor = (float)newSize.width / (float)_imageSizeOrig.width;
  
         fx                    = fxOrig * scaleFactor;
         fy                    = fyOrig * scaleFactor;
         float oldHeightScaled = _imageSizeOrig.height * scaleFactor;
         float heightDiff      = (oldHeightScaled - newSize.height) * 0.5f;
  
         cx = cxOrig * scaleFactor;
         cy = cyOrig * scaleFactor - heightDiff;
     }
     else
     {
         float scaleFactor    = (float)newSize.height / (float)_imageSizeOrig.height;
         fx                   = fxOrig * scaleFactor;
         fy                   = fyOrig * scaleFactor;
         float oldWidthScaled = _imageSizeOrig.width * scaleFactor;
         float widthDiff      = (oldWidthScaled - newSize.width) * 0.5f;
  
         cx = cxOrig * scaleFactor - widthDiff;
         cy = cyOrig * scaleFactor;
     }
  
     //std::cout << "adaptForNewResolution: _cameraMat before: " << _cameraMat << std::endl;
     _cameraMat = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1);
     //std::cout << "adaptForNewResolution: _cameraMat after: " << _cameraMat << std::endl;
     //_distortion remains unchanged
     _calibrationTime = Utils::getDateTime2String();
  
     //std::cout << "adaptForNewResolution: _imageSize before: " << _imageSize << std::endl;
     _imageSize.width  = newSize.width;
     _imageSize.height = newSize.height;
     //std::cout << "adaptForNewResolution: _imageSize after: " << _imageSize << std::endl;
  
     calculateUndistortedCameraMat();
     calcCameraFovFromUndistortedCameraMat();
     if (calcUndistortionMaps)
         buildUndistortionMaps();
 }

◆ boardSize()

cv::Size SENSCalibration::boardSize ( ) const

inline

Definition at line 200 of file SENSCalibration.h.

200 { return _boardSize; }

◆ boardSquareM()

float SENSCalibration::boardSquareM ( ) const

inline

Definition at line 202 of file SENSCalibration.h.

202 { return _boardSquareMM * 0.001f; }

◆ boardSquareMM()

float SENSCalibration::boardSquareMM ( ) const

inline

Definition at line 201 of file SENSCalibration.h.

201 { return _boardSquareMM; }

◆ buildUndistortionMaps()

void SENSCalibration::buildUndistortionMaps ( )

Builds undistortion maps after calibration or loading.

Definition at line 350 of file SENSCalibration.cpp.

 {
     if (_cameraMatUndistorted.rows != 3 || _cameraMatUndistorted.cols != 3)
         Utils::exitMsg("SLProject",
                        "SENSCalibration::buildUndistortionMaps: No _cameraMatUndistorted available",
                        __LINE__,
                        __FILE__);
  
     // Create undistortion maps
     _undistortMapX.release();
     _undistortMapY.release();
  
     HighResTimer t;
     cv::initUndistortRectifyMap(_cameraMat,
                                 _distortion,
                                 cv::Mat(), // Identity matrix R
                                 _cameraMatUndistorted,
                                 _imageSize,
                                 CV_16SC2, //before we had CV_32FC1 but in all tutorials they use CV_16SC2.. is there a reason?
                                 _undistortMapX,
                                 _undistortMapY);
     Utils::log("SLProject",
               "initUndistortRectifyMap: %fms",
               t.elapsedTimeInMilliSec());
  
     if (_undistortMapX.empty() || _undistortMapY.empty())
         Utils::exitMsg("SLProject",
                        "SENSCalibration::buildUndistortionMaps failed.",
                        __LINE__,
                        __FILE__);
 }

◆ calcCameraFovFromUndistortedCameraMat()

void SENSCalibration::calcCameraFovFromUndistortedCameraMat ( )

Calculates the vertical field of view angle in degrees.

Definition at line 567 of file SENSCalibration.cpp.

 {
     if (_cameraMatUndistorted.rows != 3 || _cameraMatUndistorted.cols != 3)
         Utils::exitMsg("SLProject", "SENSCalibration::calcCameraFovFromSceneCameraMat: No _cameraMatUndistorted available", __LINE__, __FILE__);
  
     //calculate vertical field of view
     float fx       = (float)_cameraMatUndistorted.at<double>(0, 0);
     float fy       = (float)_cameraMatUndistorted.at<double>(1, 1);
     float cx       = (float)_cameraMatUndistorted.at<double>(0, 2);
     float cy       = (float)_cameraMatUndistorted.at<double>(1, 2);
     _cameraFovHDeg = 2.0f * atan2(cx, fx) * Utils::RAD2DEG;
     _cameraFovVDeg = 2.0f * atan2(cy, fy) * Utils::RAD2DEG;
 }

◆ calculateUndistortedCameraMat()

void SENSCalibration::calculateUndistortedCameraMat ( )

Calculate a camera matrix that we use for the scene graph and for the reprojection of the undistored image.

(The following is the algorithm from cv::getOptimalNewCameraMatrix and the code is here for understanding (it does the same))

Definition at line 501 of file SENSCalibration.cpp.

 {
     if (_cameraMat.rows != 3 || _cameraMat.cols != 3)
         Utils::exitMsg("SLProject", "SENSCalibration::calculateUndistortedCameraMat: No intrinsic parameter available", __LINE__, __FILE__);
  
     // An alpha of 0 leads to no black borders
     // An alpha of 1 leads to black borders
     // (with alpha equaly zero the augmentation fits best)
     double alpha = 1.0;
  
     bool centerPrinciplePoint = true;
     if (centerPrinciplePoint)
     {
         //Attention: the principle point has to be centered because for the projection matrix we assume that image plane is "symmetrically arranged wrt the focal plane"
         //(see http://kgeorge.github.io/2014/03/08/calculating-opengl-perspective-matrix-from-opencv-intrinsic-matrix)
         //_cameraMatUndistorted     = cv::getOptimalNewCameraMatrix(_cameraMat, _distortion, _imageSize, alpha, _imageSize, nullptr, centerPrinciplePoint);
         //! (The following is the algorithm from cv::getOptimalNewCameraMatrix and the code is here for understanding (it does the same))
  
         double cx0 = _cameraMat.at<double>(0, 2);
         double cy0 = _cameraMat.at<double>(1, 2);
         double cx  = (_imageSize.width) * 0.5;
         double cy  = (_imageSize.height) * 0.5;
  
         cv::Rect_<float> inner, outer;
         getInnerAndOuterRectangles(_cameraMat,
                                    _distortion,
                                    cv::Mat(),
                                    _cameraMat,
                                    _imageSize,
                                    inner,
                                    outer);
  
         double s0 = std::max(std::max(std::max(cx / (cx0 - inner.x),
                                                cy / (cy0 - inner.y)),
                                       cx / (inner.x + inner.width - cx0)),
                              cy / (inner.y + inner.height - cy0));
  
         double s1 = std::min(std::min(std::min(cx / (cx0 - outer.x),
                                                cy / (cy0 - outer.y)),
                                       cx / (outer.x + outer.width - cx0)),
                              cy / (outer.y + outer.height - cy0));
  
         double s = s0 * (1 - alpha) + s1 * alpha;
  
         _cameraMatUndistorted = _cameraMat.clone();
         _cameraMatUndistorted.at<double>(0, 0) *= s;
         _cameraMatUndistorted.at<double>(1, 1) *= s;
         _cameraMatUndistorted.at<double>(0, 2) = cx;
         _cameraMatUndistorted.at<double>(1, 2) = cy;
     }
     else
     {
         _cameraMatUndistorted = cv::getOptimalNewCameraMatrix(_cameraMat,
                                                               _distortion,
                                                               _imageSize,
                                                               alpha,
                                                               _imageSize,
                                                               nullptr,
                                                               centerPrinciplePoint);
     }
  
     //std::cout << "_cameraMatUndistorted: " << _cameraMatUndistorted << std::endl;
     //std::cout << "_cameraMat: " << _cameraMat << std::endl;
 }

◆ calibFileName()

string SENSCalibration::calibFileName ( ) const

inline

Definition at line 204 of file SENSCalibration.h.

204 { return _calibFileName; }

◆ calibFixAspectRatio()

bool SENSCalibration::calibFixAspectRatio ( )

inline

Definition at line 168 of file SENSCalibration.h.

168 { return _calibFlags & cv::CALIB_FIX_ASPECT_RATIO; }

◆ calibFixPrincipalPoint()

bool SENSCalibration::calibFixPrincipalPoint ( )

inline

Definition at line 167 of file SENSCalibration.h.

167 { return _calibFlags & cv::CALIB_FIX_PRINCIPAL_POINT; }

◆ calibRationalModel()

bool SENSCalibration::calibRationalModel ( )

inline

Definition at line 170 of file SENSCalibration.h.

170 { return _calibFlags & cv::CALIB_RATIONAL_MODEL; }

◆ calibrationFlags()

int SENSCalibration::calibrationFlags ( ) const

inline

Definition at line 166 of file SENSCalibration.h.

166 { return _calibFlags; }

◆ calibrationTime()

string SENSCalibration::calibrationTime ( ) const

inline

Definition at line 203 of file SENSCalibration.h.

203 { return _calibrationTime; }

◆ calibThinPrismModel()

bool SENSCalibration::calibThinPrismModel ( )

inline

Definition at line 172 of file SENSCalibration.h.

172 { return _calibFlags & cv::CALIB_THIN_PRISM_MODEL; }

◆ calibTiltedModel()

bool SENSCalibration::calibTiltedModel ( )

inline

Definition at line 171 of file SENSCalibration.h.

171 { return _calibFlags & cv::CALIB_TILTED_MODEL; }

◆ calibZeroTangentDist()

bool SENSCalibration::calibZeroTangentDist ( )

inline

Definition at line 169 of file SENSCalibration.h.

169 { return _calibFlags & cv::CALIB_ZERO_TANGENT_DIST; }

◆ cameraFovHDeg()

float SENSCalibration::cameraFovHDeg ( ) const

inline

Definition at line 164 of file SENSCalibration.h.

164 { return _cameraFovHDeg; }

◆ cameraFovVDeg()

float SENSCalibration::cameraFovVDeg ( ) const

inline

Definition at line 163 of file SENSCalibration.h.

163 { return _cameraFovVDeg; }

◆ cameraMat()

const cv::Mat& SENSCalibration::cameraMat ( ) const

inline

Definition at line 160 of file SENSCalibration.h.

160 { return _cameraMat; }

◆ cameraMatUndistorted()

const cv::Mat& SENSCalibration::cameraMatUndistorted ( ) const

inline

Definition at line 161 of file SENSCalibration.h.

161 { return _cameraMatUndistorted; }

◆ camType()

SENSCameraType SENSCalibration::camType ( ) const

inline

Definition at line 196 of file SENSCalibration.h.

196 { return _camType; }

◆ computerInfos()

string SENSCalibration::computerInfos ( ) const

inline

Definition at line 205 of file SENSCalibration.h.

205 { return _computerInfos; }

◆ createFromGuessedFOV()

void SENSCalibration::createFromGuessedFOV	(	int	imageWidthPX,
		int	imageHeightPX,
		float	fovH
	)

private

Calculates camera intrinsics from a guessed FOV angle.

Most laptop-, webcam- or mobile camera have a horizontal view angle or so called field of view (FOV) of around 65 degrees. From this parameter we can calculate the most important intrinsic parameter the focal length. All other parameters are set as if the lens would be perfect: No lens distortion and the view axis goes through the center of the image. If the focal length and sensor size is provided by the device we deduce the the fovV from it.

Parameters

imageWidthPX	image width in pixels
imageHeightPX	image height in pixels
fovH	average horizontal view angle in degrees

Definition at line 412 of file SENSCalibration.cpp.

 {
     //if (fx == fy) and (cx == imgwidth * 0.5f) and (cy == imgheight  * 0.5f)
     float f    = (0.5f * imageWidthPX) / tanf(fovH * 0.5f * Utils::DEG2RAD);
     float fovV = 2.f * atan(0.5f * imageHeightPX / f) * Utils::RAD2DEG;
  
     // Create standard camera matrix
     // fx, fx, cx, cy are all in pixel values not mm
     // We asume that we have an ideal image sensor with square pixels
     // so that the focal length fx and fy are identical
     // See the OpenCV documentation for more details:
     // http://docs.opencv.org/3.1.0/dc/dbb/tutorial_py_calibration.html
  
     float cx = (float)imageWidthPX * 0.5f;
     float cy = (float)imageHeightPX * 0.5f;
     float fx = cx / tanf(fovH * 0.5f * Utils::DEG2RAD);
     float fy = fx;
  
     _imageSize.width  = imageWidthPX;
     _imageSize.height = imageHeightPX;
     _cameraMat        = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1);
     _distortion       = (cv::Mat_<double>(5, 1) << 0, 0, 0, 0, 0); // No distortion
     _cameraFovHDeg    = fovH;
     _cameraFovVDeg    = fovV;
     _calibrationTime  = Utils::getDateTime2String();
     _state            = State::guessed;
 }

◆ cx()

float SENSCalibration::cx ( ) const

inline

Definition at line 179 of file SENSCalibration.h.

179 { return _cameraMat.cols == 3 && _cameraMat.rows == 3 ? (float)_cameraMat.at<double>(0, 2) : 0.0f; }

◆ cy()

float SENSCalibration::cy ( ) const

inline

Definition at line 180 of file SENSCalibration.h.

180 { return _cameraMat.cols == 3 && _cameraMat.rows == 3 ? (float)_cameraMat.at<double>(1, 2) : 0.0f; }

◆ distortion()

const cv::Mat& SENSCalibration::distortion ( ) const

inline

Definition at line 162 of file SENSCalibration.h.

162 { return _distortion; }

◆ fx()

float SENSCalibration::fx ( ) const

inline

Definition at line 177 of file SENSCalibration.h.

177 { return _cameraMat.cols == 3 && _cameraMat.rows == 3 ? (float)_cameraMat.at<double>(0, 0) : 0.0f; }

◆ fy()

float SENSCalibration::fy ( ) const

inline

Definition at line 178 of file SENSCalibration.h.

178 { return _cameraMat.cols == 3 && _cameraMat.rows == 3 ? (float)_cameraMat.at<double>(1, 1) : 0.0f; }

◆ getInnerAndOuterRectangles()

void SENSCalibration::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
	)

static

get inscribed and circumscribed rectangle

Definition at line 296 of file SENSCalibration.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 * imgSize.width / (N - 1);
             pts.at<float>(k, 1) = (float)y * 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);
 }

◆ imageAspectRatio()

float SENSCalibration::imageAspectRatio ( ) const

inline

Definition at line 159 of file SENSCalibration.h.

159 { return (float)_imageSize.width / (float)_imageSize.height; }

◆ imageSize()

cv::Size SENSCalibration::imageSize ( ) const

inline

Definition at line 156 of file SENSCalibration.h.

156 { return _imageSize; }

◆ imageSizeOriginal()

cv::Size SENSCalibration::imageSizeOriginal ( ) const

inline

Definition at line 157 of file SENSCalibration.h.

157 { return _imageSizeOrig; }

◆ isMirroredH()

bool SENSCalibration::isMirroredH ( ) const

inline

Definition at line 173 of file SENSCalibration.h.

173 { return _isMirroredH; }

◆ isMirroredV()

bool SENSCalibration::isMirroredV ( ) const

inline

Definition at line 174 of file SENSCalibration.h.

174 { return _isMirroredV; }

◆ k1()

float SENSCalibration::k1 ( ) const

inline

Definition at line 181 of file SENSCalibration.h.

181 { return _distortion.rows >= 4 ? (float)_distortion.at<double>(0, 0) : 0.0f; }

◆ k2()

float SENSCalibration::k2 ( ) const

inline

Definition at line 182 of file SENSCalibration.h.

182 { return _distortion.rows >= 4 ? (float)_distortion.at<double>(1, 0) : 0.0f; }

◆ k3()

float SENSCalibration::k3 ( ) const

inline

Definition at line 185 of file SENSCalibration.h.

185 { return _distortion.rows >= 5 ? (float)_distortion.at<double>(4, 0) : 0.0f; }

◆ k4()

float SENSCalibration::k4 ( ) const

inline

Definition at line 186 of file SENSCalibration.h.

186 { return _distortion.rows >= 6 ? (float)_distortion.at<double>(5, 0) : 0.0f; }

◆ k5()

float SENSCalibration::k5 ( ) const

inline

Definition at line 187 of file SENSCalibration.h.

187 { return _distortion.rows >= 7 ? (float)_distortion.at<double>(6, 0) : 0.0f; }

◆ k6()

float SENSCalibration::k6 ( ) const

inline

Definition at line 188 of file SENSCalibration.h.

188 { return _distortion.rows >= 8 ? (float)_distortion.at<double>(7, 0) : 0.0f; }

◆ load()

bool SENSCalibration::load	(	const string &	calibDir,
		const string &	calibFileName,
		bool	calcUndistortionMaps
	)

private

Loads the calibration information from the config file.

Added a flag to disable calculation of undistortion maps because this may take a lot of time for big images on mobile devices

Definition at line 151 of file SENSCalibration.cpp.

 {
     //load camera parameter
     std::string fullPathAndFilename = Utils::unifySlashes(calibDir) + calibFileName;
  
     // try to open the local calibration file
     cv::FileStorage fs(fullPathAndFilename, cv::FileStorage::READ);
     if (!fs.isOpened())
     {
         Utils::log("SLProject", "Calibration     : %s", calibFileName.c_str());
         Utils::log("SLProject", "Calib. created  : No. Calib. will be estimated");
         _numCaptured       = 0;
         _isMirroredH       = false;
         _isMirroredV       = false;
         _reprojectionError = 0;
         _calibrationTime   = "-";
         _state             = State::uncalibrated;
         _camSizeIndex      = -1;
         return false;
     }
  
     // Reset if new file format version is available
     int calibFileVersion = 0;
     fs["CALIBFILEVERSION"] >> calibFileVersion;
     if (calibFileVersion < _CALIBFILEVERSION)
     {
         _numCaptured       = 0;
         _reprojectionError = -1;
         _calibrationTime   = "-";
         _state             = State::uncalibrated;
         _camSizeIndex      = -1;
     }
     else
     {
         fs["imageSizeWidth"] >> _imageSize.width;
         fs["imageSizeHeight"] >> _imageSize.height;
         fs["numCaptured"] >> _numCaptured;
         fs["isMirroredH"] >> _isMirroredH;
         fs["isMirroredV"] >> _isMirroredV;
         fs["cameraMat"] >> _cameraMat;
         fs["distortion"] >> _distortion;
         fs["reprojectionError"] >> _reprojectionError;
         fs["calibrationTime"] >> _calibrationTime;
         fs["camSizeIndex"] >> _camSizeIndex;
         fs["boardSizeWidth"] >> _boardSize.width;
         fs["boardSizeHeight"] >> _boardSize.height;
         fs["boardSquareMM"] >> _boardSquareMM;
         _state = _numCaptured ? State::calibrated : State::uncalibrated;
     }
  
     //estimate computer infos
     if (!fs["computerInfos"].empty())
         fs["computerInfos"] >> _computerInfos;
     else
     {
         std::vector<std::string> stringParts;
         Utils::splitString(Utils::getFileNameWOExt(calibFileName), '_', stringParts);
         if (stringParts.size() >= 3)
             _computerInfos = stringParts[1];
     }
  
     // close the input file
     fs.release();
  
     //calculate FOV and undistortion maps
     if (_state == State::calibrated)
     {
         //calcCameraFov();
         calculateUndistortedCameraMat();
         calcCameraFovFromUndistortedCameraMat();
         if (calcUndistortionMaps)
             buildUndistortionMaps();
     }
  
     Utils::log("SLProject", "Calib. loaded   : %s", fullPathAndFilename.c_str());
     Utils::log("SLProject", "Calib. created  : %s", _calibrationTime.c_str());
     Utils::log("SLProject", "Camera FOV H/V  : %3.1f/%3.1f", _cameraFovVDeg, _cameraFovHDeg);
  
     _cameraMatOrig = _cameraMat.clone();
     _imageSizeOrig = _imageSize;
  
     return true;
 }

◆ numCapturedImgs()

int SENSCalibration::numCapturedImgs ( ) const

inline

Definition at line 198 of file SENSCalibration.h.

198 { return _numCaptured; }

◆ operator=()

SENSCalibration& SENSCalibration::operator= ( const SENSCalibration & other )

inline

copy assignment operator implicitly defined

Definition at line 108 of file SENSCalibration.h.

     {
         _cameraMat            = other._cameraMat.clone();
         _distortion           = other._distortion.clone();
         _cameraMatOrig        = other._cameraMatOrig.clone();
         _imageSizeOrig        = other._imageSizeOrig;
         _state                = other._state;
         _cameraFovVDeg        = other._cameraFovVDeg;
         _cameraFovHDeg        = other._cameraFovHDeg;
         _calibFileName        = other._calibFileName;
         _calibFlags           = other._calibFlags;
         _isMirroredH          = other._isMirroredH;
         _isMirroredV          = other._isMirroredV;
         _numCaptured          = other._numCaptured;
         _boardSize            = other._boardSize;
         _boardSquareMM        = other._boardSquareMM;
         _reprojectionError    = other._reprojectionError;
         _imageSize            = other._imageSize;
         _camSizeIndex         = other._camSizeIndex;
         _undistortMapX        = other._undistortMapX.clone();
         _undistortMapY        = other._undistortMapY.clone();
         _cameraMatUndistorted = other._cameraMatUndistorted.clone();
         _calibrationTime      = other._calibrationTime;
         _computerInfos        = other._computerInfos;
         _camType              = other._camType;
  
         return *this;
     }

◆ p1()

float SENSCalibration::p1 ( ) const

inline

Definition at line 183 of file SENSCalibration.h.

183 { return _distortion.rows >= 4 ? (float)_distortion.at<double>(2, 0) : 0.0f; }

◆ p2()

float SENSCalibration::p2 ( ) const

inline

Definition at line 184 of file SENSCalibration.h.

184 { return _distortion.rows >= 4 ? (float)_distortion.at<double>(3, 0) : 0.0f; }

◆ remap()

void SENSCalibration::remap	(	cv::Mat &	inDistorted,
		cv::Mat &	outUndistorted
	)		const

Undistorts the inDistorted image into the outUndistorted.

Definition at line 383 of file SENSCalibration.cpp.

 {
     assert(!inDistorted.empty() &&
            "Input image is empty!");
  
     assert(!_undistortMapX.empty() &&
            !_undistortMapY.empty() &&
            "Undistortion Maps are empty!");
  
     cv::remap(inDistorted,
               outUndistorted,
               _undistortMapX,
               _undistortMapY,
               cv::INTER_LINEAR);
 }

◆ reprojectionError()

float SENSCalibration::reprojectionError ( ) const

inline

Definition at line 199 of file SENSCalibration.h.

199 { return _reprojectionError; }

◆ s1()

float SENSCalibration::s1 ( ) const

inline

Definition at line 189 of file SENSCalibration.h.

189 { return _distortion.rows >= 9 ? (float)_distortion.at<double>(8, 0) : 0.0f; }

◆ s2()

float SENSCalibration::s2 ( ) const

inline

Definition at line 190 of file SENSCalibration.h.

190 { return _distortion.rows >= 10 ? (float)_distortion.at<double>(9, 0) : 0.0f; }

◆ s3()

float SENSCalibration::s3 ( ) const

inline

Definition at line 191 of file SENSCalibration.h.

191 { return _distortion.rows >= 11 ? (float)_distortion.at<double>(10, 0) : 0.0f; }

◆ s4()

float SENSCalibration::s4 ( ) const

inline

Definition at line 192 of file SENSCalibration.h.

192 { return _distortion.rows >= 12 ? (float)_distortion.at<double>(11, 0) : 0.0f; }

◆ save()

bool SENSCalibration::save	(	const string &	calibDir,
		const string &	calibFileName
	)

Saves the camera calibration parameters to the config file.

Definition at line 238 of file SENSCalibration.cpp.

 {
     std::string fullPathAndFilename = Utils::unifySlashes(calibDir) + calibFileName;
  
     cv::FileStorage fs(fullPathAndFilename, cv::FileStorage::WRITE);
  
     if (!fs.isOpened())
     {
         Utils::log("SLProject", "Failed to write calib. %s", fullPathAndFilename.c_str());
         return false;
     }
  
     char buf[1024];
     snprintf(buf, sizeof(buf),
             "flags:%s%s%s%s%s%s%s",
             _calibFlags & cv::CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
             _calibFlags & cv::CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
             _calibFlags & cv::CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
             _calibFlags & cv::CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "",
             _calibFlags & cv::CALIB_RATIONAL_MODEL ? " +rational_model" : "",
             _calibFlags & cv::CALIB_THIN_PRISM_MODEL ? " +thin_prism_model" : "",
             _calibFlags & cv::CALIB_TILTED_MODEL ? " +tilted_model" : "");
     fs.writeComment(buf, 0);
  
     fs << "CALIBFILEVERSION" << _CALIBFILEVERSION;
     fs << "calibrationTime" << _calibrationTime;
     fs << "imageSizeWidth" << _imageSize.width;
     fs << "imageSizeHeight" << _imageSize.height;
     fs << "boardSizeWidth" << _boardSize.width;   // do not reload
     fs << "boardSizeHeight" << _boardSize.height; // do not reload
     fs << "boardSquareMM" << _boardSquareMM;      // do not reload
     fs << "numCaptured" << _numCaptured;
     fs << "calibFlags" << _calibFlags;
     fs << "isMirroredH" << _isMirroredH;
     fs << "isMirroredV" << _isMirroredV;
     fs << "calibFixAspectRatio" << (_calibFlags & cv::CALIB_FIX_ASPECT_RATIO);
     fs << "calibFixPrincipalPoint" << (_calibFlags & cv::CALIB_FIX_PRINCIPAL_POINT);
     fs << "calibZeroTangentDist" << (_calibFlags & cv::CALIB_ZERO_TANGENT_DIST);
     fs << "calibRationalModel" << (_calibFlags & cv::CALIB_RATIONAL_MODEL);
     fs << "calibTiltedModel" << (_calibFlags & cv::CALIB_TILTED_MODEL);
     fs << "calibThinPrismModel" << (_calibFlags & cv::CALIB_THIN_PRISM_MODEL);
     fs << "cameraMat" << _cameraMat;
     fs << "distortion" << _distortion;
     fs << "reprojectionError" << _reprojectionError;
     fs << "cameraFovVDeg" << _cameraFovVDeg;
     fs << "cameraFovHDeg" << _cameraFovHDeg;
     fs << "camSizeIndex" << _camSizeIndex;
     fs << "computerInfos" << _computerInfos;
  
     // close file
     fs.release();
     Utils::log("SLProject", "Calib. saved    : %s", fullPathAndFilename.c_str());
     return true;
     //uploadCalibration(fullPathAndFilename);
 }

◆ state()

State SENSCalibration::state ( ) const

inline

Definition at line 197 of file SENSCalibration.h.

197 { return _state; }

◆ stateStr()

string SENSCalibration::stateStr ( ) const

inline

Definition at line 206 of file SENSCalibration.h.

     {
         switch (_state)
         {
             case State::uncalibrated: return "uncalibrated";
             case State::calibrated: return "calibrated";
             case State::guessed: return "guessed";
             default: return "unknown";
         }
     }

◆ tauX()

float SENSCalibration::tauX ( ) const

inline

Definition at line 193 of file SENSCalibration.h.

193 { return _distortion.rows >= 13 ? (float)_distortion.at<double>(12, 0) : 0.0f; }

◆ tauY()

float SENSCalibration::tauY ( ) const

inline

Definition at line 194 of file SENSCalibration.h.

194 { return _distortion.rows >= 14 ? (float)_distortion.at<double>(13, 0) : 0.0f; }

◆ undistortMapsValid()

bool SENSCalibration::undistortMapsValid ( ) const

inline

Definition at line 175 of file SENSCalibration.h.

175 { return (!_undistortMapX.empty() && !_undistortMapY.empty()); }

Member Data Documentation

◆ _boardSize

cv::Size SENSCalibration::_boardSize

private

NO. of inner chessboard corners.

Definition at line 248 of file SENSCalibration.h.

◆ _boardSquareMM

float SENSCalibration::_boardSquareMM = 20.f

private

Size of chessboard square in mm.

Definition at line 249 of file SENSCalibration.h.

◆ _calibFileName

string SENSCalibration::_calibFileName

private

name for calibration file

Definition at line 239 of file SENSCalibration.h.

◆ _CALIBFILEVERSION

const int SENSCalibration::_CALIBFILEVERSION = 6

staticprivate

Global const file format version.

Increase the _CALIBFILEVERSION each time you change the file format.

Definition at line 272 of file SENSCalibration.h.

◆ _calibFlags

int SENSCalibration::_calibFlags = 0

private

OpenCV calibration flags.

Definition at line 240 of file SENSCalibration.h.

◆ _calibrationTime

string SENSCalibration::_calibrationTime = "-"

private

Time stamp string of calibration.

Definition at line 268 of file SENSCalibration.h.

◆ _cameraFovHDeg

float SENSCalibration::_cameraFovHDeg = 0.0f

private

Horizontal field of view in degrees.

Definition at line 238 of file SENSCalibration.h.

◆ _cameraFovVDeg

float SENSCalibration::_cameraFovVDeg = 0.0f

private

Vertical field of view in degrees.

Definition at line 237 of file SENSCalibration.h.

◆ _cameraMat

cv::Mat SENSCalibration::_cameraMat

private

3x3 Matrix for intrinsic camera matrix

Definition at line 228 of file SENSCalibration.h.

◆ _cameraMatOrig

cv::Mat SENSCalibration::_cameraMatOrig

private

3x3 Matrix for intrinsic camera matrix (original from loading or calibration estimation)

Definition at line 233 of file SENSCalibration.h.

◆ _cameraMatUndistorted

cv::Mat SENSCalibration::_cameraMatUndistorted

private

Definition at line 267 of file SENSCalibration.h.

◆ _camSizeIndex

int SENSCalibration::_camSizeIndex = -1

private

The requested camera size index.

Definition at line 252 of file SENSCalibration.h.

◆ _camType

SENSCameraType SENSCalibration::_camType = SENSCameraType::FRONTFACING

private

Definition at line 270 of file SENSCalibration.h.

◆ _computerInfos

string SENSCalibration::_computerInfos

private

Definition at line 269 of file SENSCalibration.h.

◆ _distortion

cv::Mat SENSCalibration::_distortion

private

4x1 Matrix for intrinsic distortion

Definition at line 229 of file SENSCalibration.h.

◆ _imageSize

cv::Size SENSCalibration::_imageSize

private

Input image size in pixels (after cropping)

Definition at line 251 of file SENSCalibration.h.

◆ _imageSizeOrig

cv::Size SENSCalibration::_imageSizeOrig

private

original image size (original from loading or calibration estimation)

Definition at line 234 of file SENSCalibration.h.

◆ _isMirroredH

bool SENSCalibration::_isMirroredH = false

private

Flag if image must be horizontally mirrored.

Definition at line 242 of file SENSCalibration.h.

◆ _isMirroredV

bool SENSCalibration::_isMirroredV = false

private

Flag if image must be vertically mirrored.

Definition at line 244 of file SENSCalibration.h.

◆ _numCaptured

int SENSCalibration::_numCaptured = 0

private

NO. of images captured.

Definition at line 247 of file SENSCalibration.h.

◆ _reprojectionError

float SENSCalibration::_reprojectionError = -1.0f

private

Reprojection error after calibration.

Definition at line 250 of file SENSCalibration.h.

◆ _state

State SENSCalibration::_state = State::uncalibrated

private

calibration state enumeration

Definition at line 236 of file SENSCalibration.h.

◆ _undistortMapX

cv::Mat SENSCalibration::_undistortMapX

private

Undistortion float map in x-direction.

Definition at line 254 of file SENSCalibration.h.

◆ _undistortMapY

cv::Mat SENSCalibration::_undistortMapY

private

Undistortion float map in y-direction.

Definition at line 255 of file SENSCalibration.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ SENSCalibration() [1/6]

◆ SENSCalibration() [2/6]

◆ SENSCalibration() [3/6]

◆ SENSCalibration() [4/6]

◆ SENSCalibration() [5/6]

◆ ~SENSCalibration()

◆ SENSCalibration() [6/6]

Member Function Documentation

◆ adaptForNewResolution()

◆ boardSize()

◆ boardSquareM()

◆ boardSquareMM()

◆ buildUndistortionMaps()

◆ calcCameraFovFromUndistortedCameraMat()

◆ calculateUndistortedCameraMat()

◆ calibFileName()

◆ calibFixAspectRatio()

◆ calibFixPrincipalPoint()

◆ calibRationalModel()

◆ calibrationFlags()

◆ calibrationTime()

◆ calibThinPrismModel()

◆ calibTiltedModel()

◆ calibZeroTangentDist()

◆ cameraFovHDeg()

◆ cameraFovVDeg()

◆ cameraMat()

◆ cameraMatUndistorted()

◆ camType()

◆ computerInfos()

◆ createFromGuessedFOV()

◆ cx()

◆ cy()

◆ distortion()

◆ fx()

◆ fy()

◆ getInnerAndOuterRectangles()

◆ imageAspectRatio()

◆ imageSize()

◆ imageSizeOriginal()

◆ isMirroredH()

◆ isMirroredV()

◆ k1()

◆ k2()

◆ k3()

◆ k4()

◆ k5()

◆ k6()

◆ load()

◆ numCapturedImgs()

◆ operator=()

◆ p1()

◆ p2()

◆ remap()

◆ reprojectionError()

◆ s1()

◆ s2()

◆ s3()

◆ s4()

◆ save()

◆ state()

◆ stateStr()

◆ tauX()

◆ tauY()

◆ undistortMapsValid()

Member Data Documentation

◆ _boardSize

◆ _boardSquareMM

◆ _calibFileName

◆ _CALIBFILEVERSION