This class implements utility functions for calibration. More...

#include <Utilities.h>

Static Public Member Functions
static bool	paintCalibrationBoardOutline (Frame &frame, const AnyCamera &camera, const HomogenousMatrix4 &board_T_camera, const MetricCalibrationBoard &calibrationBoard, const uint8_t *color, const unsigned int thickness=1u)
	Paints the outline of a calibration board.

static bool	paintCalibrationBoardObservation (Frame &frame, const MetricCalibrationBoard &calibrationBoard, const CalibrationBoardObservation &calibrationBoardObservation, const bool drawCorrespondences)
	Paints the observation information of a calibration board.

static Frame	visualizeDistortionGrid (const AnyCamera &camera, const unsigned int horizontalBins, const unsigned int verticalBins, const bool undistort, Worker *worker=nullptr)
	Visualizes the distortion of a camera with a grid.

static Frame	visualizeDistortionVectors (const AnyCamera &camera, const unsigned int horizontalBins, const unsigned int verticalBins)
	Visualizes the distortion of a camera with displacement vectors.

static bool	parseCalibrationBoard (const std::string &calibrationBoardType, CalibrationBoard &calibrationBoard)
	Parses the type of a calibration board from a string.

static bool	parseMarkerDimension (const std::string &markerDimension, int32_t &horizontalMarkers, int32_t &verticalMarkers)
	Parses the marker dimension from a string.

static CalibrationBoard	createBoardForPaper (const MetricSize::PaperType paperType, const unsigned int id, MetricSize paperWidth=nullptr, MetricSize paperHeight=nullptr)
	Returns an ideal calibration board for a specific paper type.

Detailed Description

This class implements utility functions for calibration.

Member Function Documentation

◆ createBoardForPaper()

static CalibrationBoard Ocean::CV::Calibration::Utilities::createBoardForPaper	(	const MetricSize::PaperType	paperType,
		const unsigned int	id,
		MetricSize *	paperWidth = `nullptr`,
		MetricSize *	paperHeight = `nullptr`
	)

static

Returns an ideal calibration board for a specific paper type.

Parameters

paperType	The type of the paper to be used, must be valid
id	The id of the calibration board, with range [0, infinity)
paperWidth	Optional resulting width of the paper, nullptr if not of interest
paperHeight	Optional resulting height of the paper, nullptr if not of interest

Returns: The calibration board optimized for the specified paper type, invalid if the calibration board could not be created

◆ paintCalibrationBoardObservation()

static bool Ocean::CV::Calibration::Utilities::paintCalibrationBoardObservation	(	Frame &	frame,
		const MetricCalibrationBoard &	calibrationBoard,
		const CalibrationBoardObservation &	calibrationBoardObservation,
		const bool	drawCorrespondences
	)

static

Paints the observation information of a calibration board.

Parameters

frame	The frame to which the observation information will be painted, must be valid
calibrationBoard	The calibration board for which the observation information will be painted, must be valid
calibrationBoardObservation	The observation information of the calibration board, must be valid
drawCorrespondences	True to draw the 2D/3D correspondences of the observation; False, to draw the projected 3D object points of all visible marker points

Returns: True, if succeeded

◆ paintCalibrationBoardOutline()

static bool Ocean::CV::Calibration::Utilities::paintCalibrationBoardOutline	(	Frame &	frame,
		const AnyCamera &	camera,
		const HomogenousMatrix4 &	board_T_camera,
		const MetricCalibrationBoard &	calibrationBoard,
		const uint8_t *	color,
		const unsigned int	thickness = `1u`
	)

static

Paints the outline of a calibration board.

Parameters

frame	The frame to which the outline will be painted, must be valid
camera	The camera profile defining the projection, must be valid
board_T_camera	The camera pose transforming camera to board, with default camera looking towards the negative z-space with y-axis upwards, must be valid
calibrationBoard	The calibration board for which the outline will be painted, must be valid
color	The color of the outline, must be valid
thickness	The thickness of the outline, possible values are {1, 3, 5, 7}

Returns: True, if succeeded

◆ parseCalibrationBoard()

static bool Ocean::CV::Calibration::Utilities::parseCalibrationBoard	(	const std::string &	calibrationBoardType,
		CalibrationBoard &	calibrationBoard
	)

static

Parses the type of a calibration board from a string.

The string must have the format 'calibrationBoard_<Id>_<HorizontalMarkers>x<VerticalMarkers> - e.g., 'calibrationBoard_0_8x13'

Parameters

calibrationBoardType	The string with the calibration board type to parse
calibrationBoard	The resulting calibration board

Returns: True, if succeeded

◆ parseMarkerDimension()

static bool Ocean::CV::Calibration::Utilities::parseMarkerDimension	(	const std::string &	markerDimension,
		int32_t &	horizontalMarkers,
		int32_t &	verticalMarkers
	)

static

Parses the marker dimension from a string.

The string must have the format '<HorizontalMarkers>x<VerticalMarkers>' - e.g., '8x13'

Parameters

markerDimension	The string with the marker dimension to parse
horizontalMarkers	The resulting number of horizontal markers, with range [1, infinity)
verticalMarkers	The resulting number of vertical markers, with range [1, infinity)

Returns: True, if succeeded

◆ visualizeDistortionGrid()

static Frame Ocean::CV::Calibration::Utilities::visualizeDistortionGrid	(	const AnyCamera &	camera,
		const unsigned int	horizontalBins,
		const unsigned int	verticalBins,
		const bool	undistort,
		Worker *	worker = `nullptr`
	)

static

Visualizes the distortion of a camera with a grid.

Parameters

camera	The camera profile for which the distortion/undistortion is visualized, must be valid
horizontalBins	Number of horizontal bins, with range [1, camera.width() / 2u)
verticalBins	Number of vertical bins, with range [1, camera.height() / 2u)
undistort	True, to visualize the undistorted frame, otherwise the distorted frame is visualized
worker	Optional worker object to distribute the computation

Returns: Resulting frame with visualized distortion/undistortion

◆ visualizeDistortionVectors()

static Frame Ocean::CV::Calibration::Utilities::visualizeDistortionVectors	(	const AnyCamera &	camera,
		const unsigned int	horizontalBins,
		const unsigned int	verticalBins
	)

static

Visualizes the distortion of a camera with displacement vectors.

Parameters

camera	The camera profile for which the distortion is visualized, must be valid
horizontalBins	Number of horizontal bins, with range [1, camera.width() / 2]
verticalBins	Number of vertical bins, with range [1, camera.height() / 2]

Returns: Resulting distortion frame with visualized distortion

The documentation for this class was generated from the following file:

cv/calibration/Utilities.h

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ createBoardForPaper()

◆ paintCalibrationBoardObservation()

◆ paintCalibrationBoardOutline()

◆ parseCalibrationBoard()

◆ parseMarkerDimension()

◆ visualizeDistortionGrid()

◆ visualizeDistortionVectors()