/usr/include/visp/vpCalibration.h

/****************************************************************************
 *
 * $Id: vpCalibration.h 4663 2014-02-14 10:32:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Camera calibration.
 *
 * Authors:
 * Eric Marchand
 * Francois Chaumette
 * Anthony Saunier
 *
 *****************************************************************************/


/*!
  \file vpCalibration.h
  \brief Tools for camera calibration.
  
  \author Eric Marchand (INRIA) using code from Francois Chaumette (INRIA)

  \sa the example in calibrate.cpp
*/
#ifndef vpCalibration_h
#define vpCalibration_h

#include <visp/vpMatrix.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpExponentialMap.h>
#include <visp/vpMath.h>
#include <visp/vpDisplay.h>
#include <visp/vpImage.h>
#include <visp/vpCalibrationException.h>
#include <visp/vpImagePoint.h>
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
#  include <visp/vpList.h>
#endif
#include <list>
#include <vector>
/*!
  \class vpCalibration

  \ingroup Calibration

  \brief Tools for perspective camera calibration.

*/
class VISP_EXPORT vpCalibration
{
public:
  /*!
    Minimization algorithm use to estimate the camera parameters.
  */
  typedef enum{
    CALIB_LAGRANGE,   /*!< Lagrange approach without estimation of the distortion. */
    CALIB_VIRTUAL_VS, /*!< Virtual visual servoing approach without estimation of the distortion (results are similar to Lowe approach). */
    CALIB_VIRTUAL_VS_DIST, /*!< Virtual visual servoing approach with estimation of the distortion. */
    CALIB_LAGRANGE_VIRTUAL_VS, /*!< Lagrange approach first, than virtual visual servoing approach,  without estimation of the distortion. */
    CALIB_LAGRANGE_VIRTUAL_VS_DIST, /*!< Lagrange approach first, than virtual visual servoing approach, with estimation of the distortion. */
  } vpCalibrationMethodType ;

  vpHomogeneousMatrix cMo ;    //!< the pose computed for the model without distortion
  //!< (as a 3x4 matrix [R T])
  vpHomogeneousMatrix cMo_dist ;  //!< the pose computed for perspective projection
  //!< with distortion model
  //!< (as a 3x4 matrix [R T])
  vpCameraParameters cam;   //!< camera intrinsic parameters for perspective
  //!< projection model without distortion
  vpCameraParameters cam_dist; //!< camera intrinsic parameters for perspective
  //!< projection model with distortion

  vpHomogeneousMatrix rMe; //!< position of the effector in relation to the
  //!< reference coordinates (manipulator base coordinates)
  vpHomogeneousMatrix eMc; //!< position of the camera in relation to the effector
  vpHomogeneousMatrix eMc_dist;

public:
  // Constructor
  vpCalibration() ;
  vpCalibration(const vpCalibration& c) ;

  // Destructor
  virtual ~vpCalibration() ;

  // Add a new point in this array
  int addPoint(double X, double Y, double Z, vpImagePoint &ip) ;

  // = operator
  vpCalibration& operator=(const vpCalibration& twinCalibration);

  static void calibrationTsai(std::vector<vpHomogeneousMatrix> &cMo,
                              std::vector<vpHomogeneousMatrix> &rMe,
                              vpHomogeneousMatrix &eMc);

  //! Suppress all the point in the array of point
  int clearPoint() ;

  void computeStdDeviation(double &deviation, double &deviation_dist);
  int computeCalibration(vpCalibrationMethodType method,
                         vpHomogeneousMatrix &cMo_est,
                         vpCameraParameters &cam_est,
                         bool verbose = false) ;
  static int computeCalibrationMulti(vpCalibrationMethodType method,
                                     std::vector<vpCalibration> &table_cal,
                                     vpCameraParameters &cam,
                                     double &globalReprojectionError,
                                     bool verbose = false) ;

  static int computeCalibrationTsai(std::vector<vpCalibration> &table_cal,
                                    vpHomogeneousMatrix &eMc,
                                    vpHomogeneousMatrix &eMc_dist);
  double computeStdDeviation(const vpHomogeneousMatrix &cMo_est,
                             const vpCameraParameters &camera);
  double computeStdDeviation_dist(const vpHomogeneousMatrix &cMo,
                                  const vpCameraParameters &cam);
  int displayData(vpImage<unsigned char> &I, vpColor color=vpColor::red,
                  unsigned int thickness=1) ;
  int displayGrid(vpImage<unsigned char> &I, vpColor color=vpColor::yellow,
                  unsigned int thickness=1) ;

  //! Set the gain for the virtual visual servoing algorithm.
  static double getLambda(){return gain;}

  //!get the residual in pixels
  double getResidual(void) const {return residual;}
  //!get the residual for perspective projection with distortion (in pixels)
  double getResidual_dist(void) const {return residual_dist;}
  //!get the number of points
  unsigned int get_npt() const {return npt;}

  int init() ;

  int readData(const char *filename) ;
  static int readGrid(const char *filename,unsigned int &n,
                      std::list<double> &oX, std::list<double> &oY, std::list<double> &oZ,
                      bool verbose = false);

  //!set the gain for the virtual visual servoing algorithm 
  static void setLambda(const double &lambda){gain = lambda;}
  int writeData(const char *filename) ;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  /*!
    @name Deprecated functions
  */
  static void calibrationTsai(unsigned int nbPose, vpHomogeneousMatrix cMo[],
                              vpHomogeneousMatrix rMe[],
                              vpHomogeneousMatrix &eMc);
  static int computeCalibrationMulti(vpCalibrationMethodType method,unsigned int nbPose,
                                     vpCalibration table_cal[],
                                     vpCameraParameters &cam,
                                     bool verbose = false) ;
  vp_deprecated static int computeCalibrationTsai(unsigned int nbPose,
                                                  vpCalibration table_cal[],
                                                  vpHomogeneousMatrix &eMc,
                                                  vpHomogeneousMatrix &eMc_dist);
  vp_deprecated static int readGrid(const char *filename,unsigned int &n,
                                    vpList<double> &oX,vpList<double> &oY,vpList<double> &oZ,
                                    bool verbose = false);
#endif

private:
  void computePose(const vpCameraParameters &cam, vpHomogeneousMatrix &cMo);
  void calibLagrange( vpCameraParameters &cam , vpHomogeneousMatrix &cMo) ;

  //! Compute the calibration using virtual visual servoing approach
  void calibVVS( vpCameraParameters &cam , vpHomogeneousMatrix &cMo,
                 bool verbose = false) ;

  static void calibVVSMulti(unsigned int nbPose, vpCalibration table_cal[],
                            vpCameraParameters &cam, bool verbose = false);
  static void calibVVSMulti(std::vector<vpCalibration> &table_cal,
                            vpCameraParameters &cam,
                            double &globalReprojectionError, bool verbose = false) ;
  void calibVVSWithDistortion( vpCameraParameters &cam,
                               vpHomogeneousMatrix &cMo,
                               bool verbose = false) ;
  static void calibVVSWithDistortionMulti( unsigned int nbPose,
                                           vpCalibration table_cal[],
                                           vpCameraParameters &cam,
                                           bool verbose = false );
  static void calibVVSWithDistortionMulti( std::vector<vpCalibration> &table_cal,
                                           vpCameraParameters &cam,
                                           double &globalReprojectionError,
                                           bool verbose = false);

private:
  unsigned int npt ;       //!< number of points used in calibration computation
  std::list<double> LoX, LoY, LoZ  ;  //!< list of points coordinates (3D in meters)
  std::list<vpImagePoint> Lip ; //!< list of points coordinates (2D in pixels)

  double residual ; //!< residual in pixel for camera model without distortion
  double residual_dist ;     //!< residual in pixel for perspective projection with distortion model

  static double threshold;
  static unsigned int nbIterMax;
  static double gain;

} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */
libvisp-dev 2.9.0-3+b2 / usr / include / visp / vpCalibration.h
