86 lines
3.5 KiB
C
86 lines
3.5 KiB
C
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/***************************************************************************
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* Copyright (C) 2008 by Luca Baronti *
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* lbaronti@gmail.com *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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/***************************************************************************
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History
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Modified by sottile on July 2009
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****************************************************************************/
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/** <b>Tsai Methods -- Interface with the tsai lib </b>
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The class is static, so a simple call to <code>calibrate()</code> is
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sufficient to get a calibrated shot.<br>
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<i>Comment:</i><br>
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Sometimes the Tsai Lib returns a irregular shifted translation values.<br>
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Since now no solution found.
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*/
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/****************************************************************************\
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* *
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* Camera parameters are usually the fixed parameters of the given camera *
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* system, typically obtained from manufacturers specifications. *
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* *
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* Cy and Cy (the center of radial lens distortion), may be calibrated *
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* separately or as part of the coplanar/noncoplanar calibration. *
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* The same with sx (x scale uncertainty factor). *
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* *
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\*******************************************************************************/
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#ifndef _TSAI_METHODS_
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#define _TSAI_METHODS_
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#include <vcg/math/matrix44.h>
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#include <vcg/space/point3.h>
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#include <vcg/space/point2.h>
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#include <vcg/math/shot.h>
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#include <list>
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// minimum points that need tsai for a proper calibration
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static const int MIN_POINTS_FOR_CALIBRATE = 13;
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struct TsaiCorrelation {
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vcg::Point3d point3d;
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vcg::Point2d point2d;
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};
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class TsaiMethods
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{
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public:
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//Calibration of the shot according to the 2D and 3D points
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static bool calibrate( vcg::Shot<double>* shot,std::list<TsaiCorrelation>* corr, bool p_foc); /// send all the valid binded points of the image at the calibration lib, then set the intinsic param of the image
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///Transformation of the camera data between tsai structure and vcg structure
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static void Shot2Tsai(vcg::Shot<double>*);
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///Transformation of the camera data between tsai structure and vcg structure
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static void Tsai2Shot(vcg::Shot<double>*, bool p_foc=true);
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private:
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static void Cam2Tsai(vcg::Shot<double>*);
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static bool createDataSet(std::list<TsaiCorrelation>* corr,vcg::Shot<double>* s);
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};
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#endif //_TSAI_METHODS_
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