camera_pose_calibration.hpp

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/*
 * Copyright 2016 Delft Robotics B.V.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

#include <opencv2/opencv.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>

#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <cstddef>

namespace camera_pose_calibration {

struct CalibrationInformation {
        std::vector<cv::Point2f> image_points;

        pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud;

        pcl::PointCloud<pcl::PointXYZ>::Ptr projected_source_cloud;

        pcl::ModelCoefficients::Ptr plane_coefficients;

        pcl::PointCloud<pcl::PointXYZ>::Ptr target_cloud;

        std::vector<size_t> nan_indices;
};

Eigen::Isometry3d findCalibration(
        cv::Mat const & image,                      
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,  
        cv::Size const pattern_size,                
        double pattern_distance,                    
        double neighbor_distance = 0.01,            
        double valid_pattern_ratio_threshold = 0.7, 
        double point_cloud_scale_x = 1.0,           
        double point_cloud_scale_y = 1.0,           
        CalibrationInformation * debug_information = NULL 
);

Eigen::Isometry3d findCalibration(
        cv::Mat const & left_image,                 
        cv::Mat const & right_image,                
        Eigen::Matrix4d const & reprojection,       
        cv::Size const pattern_size,                
        double pattern_distance                     
);


}