detect_calibration_pattern.h
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef _DETECT_CALIBRATION_PATTERN_
00031 #define _DETECT_CALIBRATION_PATTERN_
00032 
00033 #include <opencv2/core/core.hpp>
00034 #include <opencv2/calib3d/calib3d.hpp>
00035 #include <opencv2/calib3d/calib3d.hpp>
00036 #include <opencv2/highgui/highgui.hpp>
00037 #include <opencv2/imgproc/imgproc.hpp>
00038 
00039 #include <Eigen/Dense>
00040 #include <Eigen/Geometry> 
00041 #include <Eigen/StdVector>
00042 
00043 #include <iostream>
00044 #include <stdexcept>
00045 
00046 using namespace std;
00047 
00048 enum Pattern
00049 {
00050   CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID
00051 };
00052 
00053 typedef std::vector<cv::Point3f> object_pts_t;
00054 typedef std::vector<cv::Point2f> observation_pts_t;
00055 
00056 void convertCVtoEigen(cv::Mat& tvec, cv::Mat& R, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation);
00057 
00058 class PatternDetector
00059 {
00060   public:
00061     PatternDetector() { }
00062   
00063     static object_pts_t calcChessboardCorners(cv::Size boardSize,
00064                                           float squareSize,
00065                                           Pattern patternType = CHESSBOARD,
00066                                           cv::Point3f offset = cv::Point3f());
00067                                           
00068     int detectPattern(cv::Mat& image_in, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation, cv::Mat& image_out);
00069     
00070     void setCameraMatrices(cv::Mat K_, cv::Mat D_);
00071     
00072     void setPattern(cv::Size grid_size_, float square_size_, 
00073           Pattern pattern_type_, cv::Point3f offset_ = cv::Point3f());
00074 
00075   public:
00076     cv::Mat K;
00077     cv::Mat D;
00078     cv::Mat rvec, tvec, R;
00079     
00080     Pattern pattern_type;
00081     cv::Size grid_size;
00082     float square_size;
00083     object_pts_t ideal_points;
00084 };
00085 
00086 #endif


turtlebot_kinect_arm_calibration
Author(s): Michael Ferguson, Helen Oleynikova
autogenerated on Mon Oct 6 2014 08:08:03