libCalib::Calibration Class Reference

Main interface to specify the calibration structure and run optimization. More...

#include <Calibration.h>

Public Member Functions
size_t	addCamera (const Camera &c)
size_t	addPose (const Pose &p=Pose())
size_t	addTarget (const Target &t=Target())
size_t	addDistanceConstraint (const DistanceConstraint &dc=DistanceConstraint())
bool	checkConsistency (std::string &errorString) const
void	saveToDisk (const std::string &filePath) const
void	loadFromDisk (const std::string &filePath)
void	reset ()
InitializationResult	initialize (const std::vector< Detection > &detections, const InitializationSettings &settings=InitializationSettings())
OptimizationResult	optimize (const std::vector< Detection > &detections, const OptimizationSettings &settings=OptimizationSettings(), std::function< bool(const int, const double)> iterationCallback=nullptr)
CovarianceResult	estimateCovariance (const std::vector< Detection > &detections) const
bool	estimateProjectionError (const CovarianceResult &cov, std::vector< double > &rms, std::vector< double > &max, std::vector< std::vector< std::pair< libCalib::Point2, libCalib::PixelCovariance > > > &pce) const
bool	estimateTriangulationError (const CovarianceResult &cov, double &rms, double &max, std::vector< std::pair< Point3, PointCovariance > > &pc, std::vector< std::array< Point3, 100 > > &errors, const double planeOffset=0.0, const double featureNoise=0.0) const
template<class Archive >
void	serialize (Archive &ar)

Public Attributes
std::vector< Camera >	cameras
std::vector< Pose >	poses
std::vector< Target >	targets
std::vector< DistanceConstraint >	distanceConstraints
bool	isInitialized = false
bool	isOptimized = false

Detailed Description

Main interface to specify the calibration structure and run optimization.

The class is responsible for holding the calibration data and initializing/optimizing all parameters.

The typical workflow consists of:

1. adding the appropriate number of empty Camera, Pose and Target objects.
2. collecting Detection objects which reference specific cameras, targets and poses.
3. calling initialize()
4. calling optimize()

Examples

single_camera/main.cpp, step_target/main.cpp, and stereo_calibration/main.cpp.

Member Function Documentation

checkConsistency()

bool libCalib::Calibration::checkConsistency

(

std::string &

errorString

)

const

Perform various checks on the current calibration data to ensure that all entities are referenced, etc., such that initialization and calibration will be possible.

estimateCovariance()

CovarianceResult libCalib::Calibration::estimateCovariance

(

const std::vector< Detection > &

detections

)

const

Estimate variances/covariances of the model parameters.

Examples

single_camera/main.cpp.

estimateProjectionError()

bool libCalib::Calibration::estimateProjectionError	(	const CovarianceResult &	cov,
		std::vector< double > &	rms,
		std::vector< double > &	max,
		std::vector< std::vector< std::pair< libCalib::Point2, libCalib::PixelCovariance > > > &	pce
	)		const

Estimate projection errors by propagating unprojected 3d points through the calibration covariance of each camera individually. Returns 2D pixel covariances for the projected points evenly sampled on the image planes.

estimateTriangulationError()

bool libCalib::Calibration::estimateTriangulationError	(	const CovarianceResult &	cov,
		double &	rms,
		double &	max,
		std::vector< std::pair< Point3, PointCovariance > > &	pc,
		std::vector< std::array< Point3, 100 > > &	errors,
		const double	planeOffset = 0.0,
		const double	featureNoise = 0.0
	)		const

Estimate triangulation errors by propagating 3d points through the calibration covariance structure. Samples points evenly on a plane in the volume occupied by calibration object points. The plane is fitted to the camera centers.

planeOffset [m]: offsets the sample plane with positive values moving in positive y-direction. featureNoise [px]: specifies the standard deviation of error that should be assumed on the detection of points in camera images.

initialize()

InitializationResult libCalib::Calibration::initialize	(	const std::vector< Detection > &	detections,
		const InitializationSettings &	settings = InitializationSettings()
	)

Initialize all camera and target intrinsic and extrinsic parameters for the current calibration setup.

Examples

single_camera/main.cpp, and stereo_calibration/main.cpp.

loadFromDisk()

void libCalib::Calibration::loadFromDisk

(

const std::string &

filePath

)

Deserializes a Calibration object from json file.

optimize()

OptimizationResult libCalib::Calibration::optimize	(	const std::vector< Detection > &	detections,
		const OptimizationSettings &	settings = OptimizationSettings(),
		std::function< bool(const int, const double)>	iterationCallback = nullptr
	)

Run bundle block adjustment on all available data. Requires the Calibration to be initialized beforehand.

Examples

single_camera/main.cpp, step_target/main.cpp, and stereo_calibration/main.cpp.

reset()

void libCalib::Calibration::reset ( )

inline

Resets the calibration setup and deletes all owned Camera, Pose, Target, Detection and DistanceConstrain objects.

saveToDisk()

void libCalib::Calibration::saveToDisk

(

const std::string &

filePath

)

const

Serializes the Calibration object to json file.