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85 lines
2.1 KiB
85 lines
2.1 KiB
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#pragma once
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#ifndef _CALIBRATION_H_
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#define _CALIBRATION_H_
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#include "oc_array.h"
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#include "oc_point.h"
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namespace opencorr
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{
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union CameraIntrinsics
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{
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struct
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{
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float fx, fy, fs;
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float cx, cy;
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float k1, k2, k3, k4, k5, k6;
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float p1, p2;
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};
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float cam_i[13];
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};
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union CameraExtrinsics
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{
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struct
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{
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float tx, ty, tz;
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float rx, ry, rz;
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};
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float cam_e[6];
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};
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class Calibration
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{
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public:
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CameraIntrinsics intrinsics;
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CameraExtrinsics extrinsics;
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Eigen::Matrix3f intrinsic_matrix; //camera intrinsic matrix of camera
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Eigen::Matrix3f rotation_matrix; //camera rotation matrix of camera
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Eigen::Vector3f translation_vector; //camera translation matrix of camera
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Eigen::MatrixXf projection_matrix; //projection matrix of camera
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float convergence; //convergence criterion in undistortion
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int iteration; //stop condition in undistortion
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//map of distorted coordinates in image system corresponding to the integral pixel coordinates in sensor system
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Eigen::MatrixXf map_x;
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Eigen::MatrixXf map_y;
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Calibration();
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Calibration(CameraIntrinsics& intrinsics, CameraExtrinsics& extrinsics);
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~Calibration();
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void updateIntrinsicMatrix();
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void updateRotationMatrix();
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void updateTranslationVector();
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void updateProjectionMatrix();
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void updateMatrices();
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void updateCalibration(CameraIntrinsics& intrinsics, CameraExtrinsics& extrinsics);
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//get and set convergence criterion and stop condition
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float getConvergence() const;
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int getIteration() const;
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void setUndistortion(float convergence, int iteration);
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//convert the coordinate between image/retina system and sensor/pixel system
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Point2D image_to_sensor(Point2D& point);
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Point2D sensor_to_image(Point2D& point);
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/* create a map of distorted coordinates in image/retina system
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corresponding to the integral pixel coordinates in sensor/pixel system */
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void prepare(int height, int width);
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//distort the coordinate of a point in image coordinate system
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Point2D distort(Point2D& point);
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//undistortion throught interpolation on image-sensor coordinate map
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Point2D undistort(Point2D& point);
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};
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} //opencorr
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#endif //_CALIBRATION_H_
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