MetricCalibrationBoard.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_CV_CALIBRATION_METRIC_CALIBRATION_BOARD_H
#define META_OCEAN_CV_CALIBRATION_METRIC_CALIBRATION_BOARD_H
 
#include "ocean/cv/calibration/Calibration.h"
#include "ocean/cv/calibration/CalibrationBoard.h"
#include "ocean/cv/calibration/MarkerCandidate.h"
#include "ocean/cv/calibration/MetricSize.h"
 
#include "ocean/base/Accessor.h"
#include "ocean/base/RandomGenerator.h"
 
#include "ocean/geometry/SpatialDistribution.h"
 
#include "ocean/math/AnyCamera.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Calibration
{
 
/**
 * This class extends the calibration board with metric information.
 * The metric information comes from the measured width and height of the measurement indication of the calibration board in reality.<br>
 * The calibration board is defined in the xz-plane with y-axis upwards, the origin of the coordinate system is defined in the center of the board.
 * @ingroup cvcalibration
 */
class OCEAN_CV_CALIBRATION_EXPORT MetricCalibrationBoard : public CalibrationBoard
{
    protected:
 
        /**
         * Definition of an unordered set holding marker coordinates.
         */
        using MarkerCoordinateSet = std::unordered_set<MarkerCoordinate, MarkerCoordinate>;
 
    public:
 
        /**
         * Creates an invalid calibration board.
         */
        MetricCalibrationBoard() = default;
 
        /**
         * Copies a metric calibration board.
         * @param metricCalibrationBoard The calibration board to copy
         */
        MetricCalibrationBoard(const MetricCalibrationBoard& metricCalibrationBoard) = default;
 
        /**
         * Creates a new metric calibration board based on a calibration board and measured width and height of the measurement indication of the calibration board in reality.
         * @param calibrationBoard The calibration board for which the metric calibration board will be created, must be valid
         * @param measurementMetricIndicationWidth The measured metric distance between the left and right measurement indication on the real calibration board, with range (0, infinity)
         * @param measurementMetricIndicationHeight The measured metric distance between the top and bottom measurement indication on the real calibration board, with range (0, infinity)
         */
        MetricCalibrationBoard(CalibrationBoard&& calibrationBoard, const MetricSize& measurementMetricIndicationWidth, const MetricSize& measurementMetricIndicationHeight);
 
        /**
         * Returns the metric width of the measurement indication of the calibration board in the real world.
         * @return The board's measured width, with range (0, infinity)
         */
        inline const MetricSize& measurementMetricIndicationWidth() const;
 
        /**
         * Returns the metric height of the measurement indication of the calibration board in the real world.
         * @return The board's measured height, with range (0, infinity)
         */
        inline const MetricSize& measurementMetricIndicationHeight() const;
 
        /**
         * Returns the metric horizontal edge length of a marker in the real calibration board.
         * @return The board's horizontal marker edge length, with range (0, infinity)
         */
        inline Scalar xMetricMarkerSize() const;
 
        /**
         * Returns the metric vertical edge length of a marker in the real calibration board.
         * @return The board's vertical marker edge length, with range (0, infinity)
         */
        inline Scalar zMetricMarkerSize() const;
 
        /**
         * Returns the 3D center location of a marker within this calibration board.
         * @param markerCoordinate The coordinate of the marker for which the center point will be returned, must be valid
         * @return The marker's center point in the coordinate system of the calibration board, defined in the board's xz-plane
         */
        inline Vector3 markerCenterPosition(const MarkerCoordinate& markerCoordinate) const;
 
        /**
         * Returns the 3D location of a point of a marker within this calibration board.
         * @param markerCoordinate The coordinate of the marker for which the point will be returned, must be valid
         * @param indexInMarker The index of the point within the marker, with range [0, 24]
         * @return The marker's point in the coordinate system of the calibration board, defined in the board's xz-plane
         */
        inline Vector3 objectPoint(const MarkerCoordinate& markerCoordinate, const size_t indexInMarker) const;
 
        /**
         * Returns all object points of this calibration board.
         * @param objectPointIds Optional resulting ids of the object points, nullptr if not of interest
         * @return The object points of this calibration board, will be markers() * Marker::numberPoints()
         */
        Vectors3 objectPoints(ObjectPointIds* objectPointIds = nullptr) const;
 
        /**
         * Determines the camera pose using only 2D/3D correspondences from given marker candidates.
         * @param camera The camera profile to be used, must be valid
         * @param markerCandidates The marker candidates with valid marker coordinate, at least one
         * @param points The detected points associated with the marker candidates
         * @param randomGenerator The random generator to be used
         * @param board_T_camera The resulting camera pose transforming camera to board, with default camera looking towards the positive z-space with y-axis upwards
         * @param maximalProjectionError The maximal projection error between projected 3D object points and their corresponding 2D observations, with range [0, infinity)
         * @param useMarkerCandidateIndices Optional resulting indices of the marker candidates which were used to determine the camera pose, nullptr if not of interest
         * @param usedObjectPointIds Optional resulting ids of the object points which were used to determine the camera pose, nullptr if not of interest
         * @param usedObjectPoints Optional resulting 3D object points which were used to determine the camera pose, nullptr if not
         * @param usedImagePoints Optional resulting 2D image points which were used to determine the camera pose, nullptr if not
         * @return True, if succeeded
         */
        bool determineCameraPose(const AnyCamera& camera, const ConstIndexedAccessor<MarkerCandidate>& markerCandidates, const Points& points, RandomGenerator& randomGenerator, HomogenousMatrix4& board_T_camera, const Scalar maximalProjectionError, Indices32* usedMarkerCandidates = nullptr, ObjectPointIds* usedObjectPointIds = nullptr, Vectors3* usedObjectPoints = nullptr, Vectors2* usedImagePoints = nullptr) const;
 
        /**
         * Optimizes the camera pose using 2D/3D correspondences from known valid marker candidates and from known additional marker coordinates.
         * @param camera The camera profile to be used, must be valid
         * @param board_T_camera The initial camera pose to be optimized, with default camera looking towards the positive z-space with y-axis upwards, must be valid
         * @param validMarkerCandidates The known valid marker candidates, at least one
         * @param additionalMarkerCoordinates The known additional marker coordinates, at least one
         * @param points The detected points associated with the image
         * @param pointsDistributionArray The distribution array of the detected points
         * @param board_T_optimizedCamera The resulting optimized camera pose, with default camera looking towards the positive z-space with y-axis upwards
         * @param maximalProjectionError The maximal projection error between projected 3D object points and their corresponding 2D observations, with range [0, infinity)
         * @param usedObjectPointIds Optional resulting ids of the object points which were used to determine the camera pose, nullptr if not of interest
         * @param usedImagePoints Optional resulting 2D image points which were used to determine the camera pose, nullptr if not of interest
         * @param usedObjectPoints Optional resulting 3D object points which were used to determine the camera pose, nullptr if not of interest
         * @return True, if succeeded
         */
        bool optimizeCameraPose(const AnyCamera& camera, const HomogenousMatrix4& board_T_camera, const ConstIndexedAccessor<MarkerCandidate>& validMarkerCandidates, const CV::PixelPositions& additionalMarkerCoordinates, const Points& points, const Geometry::SpatialDistribution::DistributionArray& pointsDistributionArray, HomogenousMatrix4& board_T_optimizedCamera, const Scalar maximalProjectionError, ObjectPointIds* usedObjectPointIds, Vectors2* usedImagePoints = nullptr, Vectors3* usedObjectPoints = nullptr) const;
 
        /**
         * Returns whether this calibration board holds valid data and valid measured indication distances.
         * @return True, if so
         */
        inline bool isValid() const;
 
        /**
         * Creates a unique metric calibration board based on a unique board id (the seed) and the number of markers the board has.
         * @param id The unique board id defining the seed for the random number generator, with range [0, infinity)
         * @param xMarkers The number of horizontal markers the calibration board will have, with range [1, infinity)
         * @param yMarkers The number of vertical markers the calibration board will have, with range [1, infinity)
         * @param measurementMetricIndicationWidth The measured metric distance between the left and right measurement indication on the real calibration board, with range (0, infinity)
         * @param measurementMetricIndicationHeight The measured metric distance between the top and bottom measurement indication on the real calibration board, with range (0, infinity)
         * @param calibrationBoard The resulting calibration board
         * @return True, if succeeded
         */
        static bool createMetricCalibrationBoard(const unsigned int id, const size_t xMarkers, const size_t yMarkers, const MetricSize& measurementMetricIndicationWidth, const MetricSize& measurementMetricIndicationHeight, MetricCalibrationBoard& metricCalibrationBoard);
 
        /**
         * Returns the padding factor of this metric calibration board.
         * The padding factor specifies the size of the padding around the actual board markers and the measurement indications in relation to the size of the individual board markers.
         * @return The padding factor, with range (0, 1)
         */
        static constexpr double paddingFactor();
 
        /**
         * Determines the optimal marker grid for a calibration board with specific paper width and height and minimal marker size.
         * @param paperWidth The width of the paper, with range (0, infinity)
         * @param paperHeight The height of the paper, with range (0, infinity)
         * @param xMarkers The resulting number of horizontal markers, with range [1, infinity)
         * @param yMarkers The resulting number of vertical markers, with range [1, infinity)
         * @param minMarkerSize The minimal size of a marker, with range (0, infinity)
         * @param margin The margin between the paper border and the measurement indications (the margin due to physical limitations of the printer), with range [0, infinity)
         * @param paddingFactor The padding factor, with range (0, 1)
         */
        static bool determineOptimalMarkerGrid(const MetricSize& paperWidth, const MetricSize& paperHeight, size_t& xMarkers, size_t& yMarkers, const MetricSize& minMarkerSize = MetricSize(30.0, MetricSize::UT_MILLIMETER), const MetricSize& margin = MetricSize(6.0, MetricSize::UT_MILLIMETER), const double paddingFactor = MetricCalibrationBoard::paddingFactor());
 
    protected:
 
        /// The measured metric distance between the left and right measurement indication on the real calibration board, with range (0, infinity).
        MetricSize measurementMetricIndicationWidth_;
 
        /// The measured metric distance between the top and bottom measurement indication on the real calibration board, with range (0, infinity).
        MetricSize measurementMetricIndicationHeight_;
 
        /// The board's horizontal marker edge length, with range (0, infinity).
        Scalar xMetricMarkerSize_ = 0;
 
        /// The board's vertical marker edge length, with range (0, infinity).
        Scalar zMetricMarkerSize_ = 0;
};
 
inline const MetricSize& MetricCalibrationBoard::measurementMetricIndicationWidth() const
{
    return measurementMetricIndicationWidth_;
}
 
inline const MetricSize& MetricCalibrationBoard::measurementMetricIndicationHeight() const
{
    return measurementMetricIndicationHeight_;
}
 
inline Scalar MetricCalibrationBoard::xMetricMarkerSize() const
{
    return xMetricMarkerSize_;
}
 
inline Scalar MetricCalibrationBoard::zMetricMarkerSize() const
{
    return zMetricMarkerSize_;
}
 
Vector3 MetricCalibrationBoard::markerCenterPosition(const MarkerCoordinate& markerCoordinate) const
{
    ocean_assert(markerCoordinate.x() < xMarkers_ && markerCoordinate.y() < yMarkers_);
 
    const Scalar markersSizeX = Scalar(xMarkers_) * xMetricMarkerSize_;
    const Scalar markersSizeZ = Scalar(yMarkers_) * zMetricMarkerSize_;
 
    const Scalar metricMarkerCenterX = (Scalar(markerCoordinate.x()) + Scalar(0.5)) * xMetricMarkerSize_ - markersSizeX / Scalar(2);
    const Scalar metricMarkerCenterZ = (Scalar(markerCoordinate.y()) + Scalar(0.5)) * zMetricMarkerSize_ - markersSizeZ / Scalar(2);
 
    return Vector3(metricMarkerCenterX, 0, metricMarkerCenterZ);
}
 
inline Vector3 MetricCalibrationBoard::objectPoint(const MarkerCoordinate& markerCoordinate, const size_t indexInMarker) const
{
    ocean_assert(markerCoordinate.x() < xMarkers_ && markerCoordinate.y() < yMarkers_);
 
    const Vector3 markerCenter = markerCenterPosition(markerCoordinate);
 
    const BoardMarker& boardMarker = marker(markerCoordinate);
 
    return boardMarker.objectPoint(markerCenter, xMetricMarkerSize_, zMetricMarkerSize_, indexInMarker);
}
 
inline bool MetricCalibrationBoard::isValid() const
{
    ocean_assert(xMetricMarkerSize_ == 0 || zMetricMarkerSize_ > Numeric::eps());
    return CalibrationBoard::isValid() && xMetricMarkerSize_ > Numeric::eps();
}
 
constexpr double MetricCalibrationBoard::paddingFactor()
{
    return 0.1; // 10% of the marker size
}
 
}
 
}
 
}
 
#endif // META_OCEAN_CV_CALIBRATION_METRIC_CALIBRATION_BOARD_H