calibration_standalone.h File Reference

#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <boost/algorithm/string.hpp>
#include <stdio.h>
#include <vector>
#include <iostream>
#include <string>

Include dependency graph for calibration_standalone.h:

Go to the source code of this file.

Classes
struct	SensorDataEntry
Defines
#define	DEBUG_CORNERS_GUI   1
#define	DEBUG_GUI   1
#define	NR_SQUARE_X   4
#define	NR_SQUARE_Y   6
#define	SQ_SIZE   41
Functions
void	calculateIntrinsicParametersError (SensorDataEntry sde, std::vector< int > &badPairs, std::vector< int > goodPairs, double max_err)
void	computeExtrinsicParameters (SensorDataEntry &sde, CvSize checkboard, int nr_pairs)
int	computeIntrinsicParameters (SensorDataEntry &sde, CvSize checkboard, double sq_size, std::vector< int > &badPairs, double max_err, int wait)
std::vector< SensorDataEntry >	createSensorEntries (int argc, char **argv, std::vector< int > pPNGFileIndices, CvSize checkboard, int ith)
void	finishUp (std::vector< SensorDataEntry > inputData)
void	get4x4TransformationMatrix (CvMat *R, CvMat *t, CvMat *T)
void	getCalibrationCheckboardCorners (SensorDataEntry &sde, CvSize checkboard, double sq_size, std::vector< int > &badPairs, std::vector< int > &goodPairs)
int	getExtrinsicBetween (std::string left, std::string right, CvSize checkboard, std::vector< SensorDataEntry > inputData, int nr_pairs, int *nums)
std::vector< CvPoint3D64f >	getObjectPoints (CvSize checkboard, double sq_size, int n_frames)
int	ParseArgument (int argc, char **argv, const char *str, double &val)
int	ParseArgument (int argc, char **argv, const char *str, int &val)
std::vector< int >	ParseFileExtensionArgument (int argc, char **argv, const char *extension)
int	ParseRangeArguments (int argc, char **argv, const char *str, int &s, int &e)
void	printMatrix (CvMat *matrix, double value=1.0)
void	printTransformation (CvMat *rot, CvMat *tr)

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Define Documentation

#define DEBUG_CORNERS_GUI   1

Definition at line 49 of file calibration_standalone.h.

#define DEBUG_GUI   1

Definition at line 48 of file calibration_standalone.h.

#define NR_SQUARE_X   4

Definition at line 44 of file calibration_standalone.h.

#define NR_SQUARE_Y   6

Definition at line 45 of file calibration_standalone.h.

#define SQ_SIZE   41

Definition at line 46 of file calibration_standalone.h.

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Function Documentation

void calculateIntrinsicParametersError	(	SensorDataEntry	sde,
		std::vector< int > &	badPairs,
		std::vector< int >	goodPairs,
		double	max_err
	)

Obtain the intrinsic camera parameters error for this entry using its associated input images

Note:

: results are stored in projImgPoints in <u,v>

Definition at line 580 of file calibration_standalone.h.

void computeExtrinsicParameters	(	SensorDataEntry &	sde,
		CvSize	checkboard,
		int	nr_pairs
	)

Obtain the extrinsic camera parameters for this entry using its associated input images

Definition at line 708 of file calibration_standalone.h.

int computeIntrinsicParameters	(	SensorDataEntry &	sde,
		CvSize	checkboard,
		double	sq_size,
		std::vector< int > &	badPairs,
		double	max_err,
		int	wait
	)

Obtain the intrisic camera parameters for this entry using its associated input images

Note:

: If we set CV_CALIB_USE_INTRINSIC_GUESS, we require initial values in sde.intrinsic for fx, fy, cx, cy that will be further optimized

Definition at line 672 of file calibration_standalone.h.

std::vector<SensorDataEntry> createSensorEntries	(	int	argc,
		char **	argv,
		std::vector< int >	pPNGFileIndices,
		CvSize	checkboard,
		int	ith
	)

Note:

: do not create the pointNumbers here, but rather after <getCalibrationCheckboardCorners ()> inputData.at (i).pointNumbers = cvCreateMat (1, nr_pairs, CV_32SC1);

: do not create the objectPoints here, but rather after <getCalibrationCheckboardCorners ()> inputData.at (i).objectPoints = cvCreateMat (checkboard.width * checkboard.height * nr_pairs, 3, CV_64FC1);

: do not create the imagePoints here, but rather after <getCalibrationCheckboardCorners ()> inputData.at (i).imagePoints = cvCreateMat (checkboard.width * checkboard.height * nr_pairs, 2, CV_64FC1);

Definition at line 278 of file calibration_standalone.h.

void finishUp

(

std::vector< SensorDataEntry >

inputData

)

---[ Release memory

Definition at line 256 of file calibration_standalone.h.

void get4x4TransformationMatrix	(	CvMat *	R,
		CvMat *	t,
		CvMat *	T
	)

Definition at line 488 of file calibration_standalone.h.

void getCalibrationCheckboardCorners	(	SensorDataEntry &	sde,
		CvSize	checkboard,
		double	sq_size,
		std::vector< int > &	badPairs,
		std::vector< int > &	goodPairs
	)

Note:

: badPairs contains <sde.pairs.at (i)> and not like goodPairs!

Prepare to copy data to the Sensor entry

Definition at line 380 of file calibration_standalone.h.

int getExtrinsicBetween	(	std::string	left,
		std::string	right,
		CvSize	checkboard,
		std::vector< SensorDataEntry >	inputData,
		int	nr_pairs,
		int *	nums
	)

---[ Display results

Definition at line 511 of file calibration_standalone.h.

std::vector<CvPoint3D64f> getObjectPoints	(	CvSize	checkboard,
		double	sq_size,
		int	n_frames
	)

Create a checkboard model

Note:

: it doesn't matter what values we have here as long as they are consistently used for all images

Definition at line 176 of file calibration_standalone.h.

int ParseArgument	(	int	argc,
		char **	argv,
		const char *	str,
		double &	val
	)

Definition at line 73 of file calibration_standalone.h.

int ParseArgument	(	int	argc,
		char **	argv,
		const char *	str,
		int &	val
	)

Definition at line 55 of file calibration_standalone.h.

std::vector<int> ParseFileExtensionArgument	(	int	argc,
		char **	argv,
		const char *	extension
	)

Definition at line 115 of file calibration_standalone.h.

int ParseRangeArguments	(	int	argc,
		char **	argv,
		const char *	str,
		int &	s,
		int &	e
	)

Definition at line 91 of file calibration_standalone.h.

void printMatrix	(	CvMat *	matrix,
		double	value = 1.0
	)

Definition at line 146 of file calibration_standalone.h.

void printTransformation	(	CvMat *	rot,
		CvMat *	tr
	)

Definition at line 159 of file calibration_standalone.h.