DLTCalibration.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
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// ****************************************************************************
// ****************************************************************************
// Filename:  DLTCalibration.h
// Author:    Pedram Azad
// Date:      04.12.2009
// ****************************************************************************


#ifndef _DLT_CALIBRATION_H_
#define _DLT_CALIBRATION_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Math/Math2d.h"
#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CCalibration;



// ****************************************************************************
// CDLTCalibration
// ****************************************************************************

class CDLTCalibration
{
public:
        // enums
        enum DistortionType
        {
                eNoDistortion,
                eRadialDistortion,
                eRadialAndTangentialDistortion
        };

        // structs
        struct PairElement
        {
                Vec3d worldPoint;
                Vec2d imagePoint;
        };
        
        // constructor
        CDLTCalibration();
        
        // destructor
        ~CDLTCalibration();


        // public methods
        // Parameter: nIterations (recommendations)
        // nCalculateDistortionParameters = 0: nIterations not used
        // nCalculateDistortionParameters = 1: nIterations > 500
        // nCalculateDistortionParameters = 2: nIterations > 1000
        float Calibrate(const PairElement *pPairElements, int nPairElements, CCalibration &resultCalibration, DistortionType eCalculateDistortionParameters = eNoDistortion, int nIterations = 1000);

        // camera transformations (2D <=> 3D)
        void GetImageCoordinatesDLT(const Vec3d &worldPoint, Vec2d &imagePoint);
        
        float CheckCalibration(const CCalibration &calibration);
        
        

private:
        // private methods
        void CalculateDLT(const CCalibration &calibration, bool bFirstCall);
        void ExtractFromDLT(CCalibration &calibration);
        void CalculateRadialLensDistortion(CCalibration &calibration);
        void CalculateRadialAndTangentialLensDistortion(CCalibration &calibration);
        float CheckDLT();
        
        
        // private attributes
        float L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11;

        const PairElement *m_pPairElements;
        int m_nPairElements;
};



#endif /* _DLT_CALIBRATION_H_ */