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<div class="title">chessboard_camera_calib.h</div> </div>
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<a href="chessboard__camera__calib_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_vision_chessboard_camera_calib_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_vision_chessboard_camera_calib_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2types_8h.html">mrpt/vision/types.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html">mrpt/vision/link_pragmas.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>vision
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00043"></a>00043 <span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** \addtogroup chessboard_calib Chessboard calibration </span>
<a name="l00045"></a>00045 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00046"></a>00046 <span class="comment"> * @{ */</span>
<a name="l00047"></a>00047 <span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /** Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration (All the information can be left empty and will be filled up in the calibration method).</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> TImageCalibData
<a name="l00051"></a>00051 {
<a name="l00052"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af2e9679cbc663e535b73936e21625e36">00052</a> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af2e9679cbc663e535b73936e21625e36" title="This image will be automatically loaded from the file name passed to checkerBoardCameraCalibration.">img_original</a>; <span class="comment">//!< This image will be automatically loaded from the file name passed to checkerBoardCameraCalibration</span>
<a name="l00053"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af43ebc6593049aad370d7a7029ec8022">00053</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af43ebc6593049aad370d7a7029ec8022" title="At output, this will contain the detected checkerboard overprinted to the image.">img_checkboard</a>; <span class="comment">//!< At output, this will contain the detected checkerboard overprinted to the image.</span>
<a name="l00054"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a44759510a7d3909b51cd245d9fa293c9">00054</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a44759510a7d3909b51cd245d9fa293c9" title="At output, this will be the rectified image.">img_rectified</a>; <span class="comment">//!< At output, this will be the rectified image</span>
<a name="l00055"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a9aac2add84fd9c605d1615786993a86e">00055</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<mrpt::utils::TPixelCoordf></a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a9aac2add84fd9c605d1615786993a86e" title="At output, the detected corners (x,y) in pixel units.">detected_corners</a>; <span class="comment">//!< At output, the detected corners (x,y) in pixel units.</span>
<a name="l00056"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#ae09798464fa605dc00b524cb01a4fb70">00056</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">::poses::CPose3D</a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#ae09798464fa605dc00b524cb01a4fb70" title="At output, the reconstructed pose of the camera.">reconstructed_camera_pose</a>; <span class="comment">//!< At output, the reconstructed pose of the camera.</span>
<a name="l00057"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a53e27627198e8439c5dee3a90c716f95">00057</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<TPixelCoordf></a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#a53e27627198e8439c5dee3a90c716f95" title="At output, only will have an empty vector if the checkerboard was not found in this image...">projectedPoints_distorted</a>; <span class="comment">//!< At output, only will have an empty vector if the checkerboard was not found in this image, or the predicted (reprojected) corners, which were used to estimate the average square error.</span>
<a name="l00058"></a><a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af194b126b8ab13ecb6ed82870d709518">00058</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<TPixelCoordf></a> <a class="code" href="structmrpt_1_1vision_1_1_t_image_calib_data.html#af194b126b8ab13ecb6ed82870d709518" title="At output, like projectedPoints_distorted but for the undistorted image.">projectedPoints_undistorted</a>; <span class="comment">//!< At output, like projectedPoints_distorted but for the undistorted image.</span>
<a name="l00059"></a>00059 <span class="comment"></span> };
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** A list of images, used in checkerBoardCameraCalibration</span>
<a name="l00062"></a>00062 <span class="comment"> * \sa checkerBoardCameraCalibration</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a><a class="code" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">00064</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1map.html" title="STL class.">::map<std::string,TImageCalibData></a> <a class="code" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d" title="A list of images, used in checkerBoardCameraCalibration.">TCalibrationImageList</a>;
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.</span>
<a name="l00067"></a>00067 <span class="comment"> * \param input_images [IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See TImageCalibData.</span>
<a name="l00068"></a>00068 <span class="comment"> * \param check_size_x [IN] The number of squares in the checkerboard in the X direction.</span>
<a name="l00069"></a>00069 <span class="comment"> * \param check_size_y [IN] The number of squares in the checkerboard in the Y direction.</span>
<a name="l00070"></a>00070 <span class="comment"> * \param check_squares_length_X_meters [IN] The size of each square in the checkerboard, in meters, in the X axis.</span>
<a name="l00071"></a>00071 <span class="comment"> * \param check_squares_length_Y_meters [IN] This will typically be equal to check_squares_length_X_meters.</span>
<a name="l00072"></a>00072 <span class="comment"> * \param intrinsicParams [OUT] The 3x3 intrinsic parameters matrix. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00073"></a>00073 <span class="comment"> * \param distortionParams [OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00074"></a>00074 <span class="comment"> * \param normalize_image [IN] Select OpenCV flag</span>
<a name="l00075"></a>00075 <span class="comment"> * \param out_MSE [OUT] If set to !=NULL, the mean square error of the reprojection will be stored here (in pixel units).</span>
<a name="l00076"></a>00076 <span class="comment"> * \param skipDrawDetectedImgs [IN] Whether to skip the generation of the undistorted and detected images in each TImageCalibData</span>
<a name="l00077"></a>00077 <span class="comment"> * \param useScaramuzzaAlternativeDetector [IN] Whether to use an alternative detector. See CImage::findChessboardCorners for more deatails and references.</span>
<a name="l00078"></a>00078 <span class="comment"> * \sa The <a href="http://www.mrpt.org/Application:camera-calib-gui" >camera-calib-gui application</a> is a user-friendly GUI to this class.</span>
<a name="l00079"></a>00079 <span class="comment"> * \return false on any error (more info will be dumped to cout), or true on success.</span>
<a name="l00080"></a>00080 <span class="comment"> * \sa CImage::findChessboardCorners</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">checkerBoardCameraCalibration</a>(
<a name="l00083"></a>00083 <a class="code" href="classstd_1_1map.html" title="STL class.">TCalibrationImageList</a> &images,
<a name="l00084"></a>00084 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_x,
<a name="l00085"></a>00085 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_y,
<a name="l00086"></a>00086 <span class="keywordtype">double</span> check_squares_length_X_meters,
<a name="l00087"></a>00087 <span class="keywordtype">double</span> check_squares_length_Y_meters,
<a name="l00088"></a>00088 <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &out_camera_params,
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> normalize_image = <span class="keyword">true</span>,
<a name="l00090"></a>00090 <span class="keywordtype">double</span> *out_MSE = NULL,
<a name="l00091"></a>00091 <span class="keywordtype">bool</span> skipDrawDetectedImgs = <span class="keyword">false</span>,
<a name="l00092"></a>00092 <span class="keywordtype">bool</span> useScaramuzzaAlternativeDetector = <span class="keyword">false</span>
<a name="l00093"></a>00093 );
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.</span>
<a name="l00096"></a>00096 <span class="comment"> * \param input_images [IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See TImageCalibData.</span>
<a name="l00097"></a>00097 <span class="comment"> * \param check_size_x [IN] The number of squares in the checkerboard in the X direction.</span>
<a name="l00098"></a>00098 <span class="comment"> * \param check_size_y [IN] The number of squares in the checkerboard in the Y direction.</span>
<a name="l00099"></a>00099 <span class="comment"> * \param check_squares_length_X_meters [IN] The size of each square in the checkerboard, in meters, in the X axis.</span>
<a name="l00100"></a>00100 <span class="comment"> * \param check_squares_length_Y_meters [IN] This will typically be equal to check_squares_length_X_meters.</span>
<a name="l00101"></a>00101 <span class="comment"> * \param intrinsicParams [OUT] The 3x3 intrinsic parameters matrix. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00102"></a>00102 <span class="comment"> * \param distortionParams [OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00103"></a>00103 <span class="comment"> * \param normalize_image [IN] Select OpenCV flag</span>
<a name="l00104"></a>00104 <span class="comment"> * \param out_MSE [OUT] If set to !=NULL, the mean square error of the reprojection will be stored here (in pixel units).</span>
<a name="l00105"></a>00105 <span class="comment"> * \param skipDrawDetectedImgs [IN] Whether to skip the generation of the undistorted and detected images in each TImageCalibData</span>
<a name="l00106"></a>00106 <span class="comment"> * \param useScaramuzzaAlternativeDetector [IN] Whether to use an alternative detector. See CImage::findChessboardCorners for more deatails and references.</span>
<a name="l00107"></a>00107 <span class="comment"> * \sa The <a href="http://www.mrpt.org/Application:camera-calib-gui" >camera-calib-gui application</a> is a user-friendly GUI to this class.</span>
<a name="l00108"></a>00108 <span class="comment"> * \return false on any error (more info will be dumped to cout), or true on success.</span>
<a name="l00109"></a>00109 <span class="comment"> * \sa CImage::findChessboardCorners</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">checkerBoardCameraCalibration</a>(
<a name="l00112"></a>00112 <a class="code" href="classstd_1_1map.html" title="STL class.">TCalibrationImageList</a> &images,
<a name="l00113"></a>00113 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_x,
<a name="l00114"></a>00114 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_y,
<a name="l00115"></a>00115 <span class="keywordtype">double</span> check_squares_length_X_meters,
<a name="l00116"></a>00116 <span class="keywordtype">double</span> check_squares_length_Y_meters,
<a name="l00117"></a>00117 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> &intrinsicParams,
<a name="l00118"></a>00118 <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &distortionParams,
<a name="l00119"></a>00119 <span class="keywordtype">bool</span> normalize_image = <span class="keyword">true</span>,
<a name="l00120"></a>00120 <span class="keywordtype">double</span> *out_MSE = NULL,
<a name="l00121"></a>00121 <span class="keywordtype">bool</span> skipDrawDetectedImgs = <span class="keyword">false</span>,
<a name="l00122"></a>00122 <span class="keywordtype">bool</span> useScaramuzzaAlternativeDetector = <span class="keyword">false</span>
<a name="l00123"></a>00123 );
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00126"></a>00126
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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