CameraCalibrationDataComponent Class Reference

#include <ImFusion/Vision/CameraCalibrationDataComponent.h>

A data component storing mainly the intrinsic calibration of a pinhole camera Information such as image size, extrinsic poses and distortions are also stored Debug values like MRE and standard deviations estimated for intrinsic parameters, which are used for evaluating the calibration results during the calibration process are also saved here. More...

Inheritance diagram for CameraCalibrationDataComponent:

Detailed Description

A data component storing mainly the intrinsic calibration of a pinhole camera Information such as image size, extrinsic poses and distortions are also stored Debug values like MRE and standard deviations estimated for intrinsic parameters, which are used for evaluating the calibration results during the calibration process are also saved here.

Public Member Functions
	CameraCalibrationDataComponent (const vec2i &size, const mat3 &k, const vec5 &dist)
	CameraCalibrationDataComponent (const vec2i &size, const mat3 &k, const vec5 &dist, const mat4 &reg)
bool	operator== (const CameraCalibrationDataComponent &other) const
bool	isApprox (const CameraCalibrationDataComponent &other, double precision=std::numeric_limits< double >::epsilon()) const
bool	checkImageSizeAndCalibrationConsistency (const vec2i &size) const
	Checks if the physical image size and the size in CameraCalibrationDataComponent are consistent.
bool	adaptCalibrationToCropping (const vec4i &cropBox)
	Adapts the intrinsic calibration to a cropped image.
bool	adaptCalibrationToPadding (const vec4i &padValues)
	Adapts the intrinsic calibration to a padded image.
bool	adaptCalibrationToResizing (const vec2i &newSize)
	Adapts the intrinsic calibration to a resized image.
bool	save (const Filesystem::Path &file)
bool	load (const Filesystem::Path &file)
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
Public Member Functions inherited from DataComponent< CameraCalibrationDataComponent >
std::unique_ptr< DataComponentBase >	clone () const override
	Creates a clone of this data component.
std::unique_ptr< Subclass >	cloneDerived () const
bool	assign (const DataComponentBase &other) override
	Assigns the content of other to this data component.
bool	equals (const DataComponentBase &other) const override
	Compares this data component to other for equality.
Public Member Functions inherited from Configurable
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Public Attributes
Parameter< vec2i >	p_imageSize = {"imageSize", vec2i::Zero(), this}
Parameter< mat3 >	p_K = {"K", mat3::Zero(), this}
Parameter< vec5 >	p_distortion = {"distortion", vec5::Zero(), this}
Parameter< mat4 >	p_camToWorldT = {"registration", mat4::Identity(), this}
Parameter< double >	p_mre = {"mre", 0., this}
Parameter< vec4 >	p_stdK = {"stdK", vec4::Zero(), this}
Parameter< vec5 >	p_stdDistortion = {"stdDistortion", vec5::Zero(), this}
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Methods implementing the DataComponent interface
std::string	id () const override
	Returns a unique string identifier for this type of data component.

Additional Inherited Members
Protected Member Functions inherited from DataComponentBase
	DataComponentBase (const DataComponentBase &)=default
DataComponentBase &	operator= (const DataComponentBase &other)=default
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

id()

std::string id ( ) const

overridevirtual

Returns a unique string identifier for this type of data component.

Note

To avoid conflicts make sure to include potential plugin names into this ID. Due to the modular architecture of the ImFusion library, uniqueness of IDs cannot be checked at compile time. However, DataComponentFactory will check the uniqueness of the ID during registration.

Implements DataComponentBase.

checkImageSizeAndCalibrationConsistency()

bool checkImageSizeAndCalibrationConsistency

(

const vec2i &

size

)

const

Checks if the physical image size and the size in CameraCalibrationDataComponent are consistent.

Parameters

size	The physical image size
cameraCalibrationDataComponent	The CameraCalibrationDataComponent to check against

Returns

true if the sizes are consistent, false otherwise

adaptCalibrationToCropping()

bool adaptCalibrationToCropping

(

const vec4i &

cropBox

)

Adapts the intrinsic calibration to a cropped image.

Parameters

cropBox

The crop box in pixel in COCO format (upper left x , upper left y, width, height)

Returns

true if the calibration was adapted, false otherwise

adaptCalibrationToPadding()

bool adaptCalibrationToPadding

(

const vec4i &

padValues

)

Adapts the intrinsic calibration to a padded image.

Parameters

padValues

The padding values (left, right, top, bottom)

Returns

true if the calibration was adapted, false otherwise

adaptCalibrationToResizing()

bool adaptCalibrationToResizing

(

const vec2i &

newSize

)

Adapts the intrinsic calibration to a resized image.

Note

Please make sure the previous image size was consistent with the calibration data. You can do this with checkImageSizeAndCalibrationConsistency prior to resizing the image. If not please make sure you update it throughout the pipeline.

Parameters

newSize

The new image size

Returns

true if the calibration was adapted, false otherwise

configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configuration() for the inverse functionality

Reimplemented from Configurable.

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

• ImFusion/Vision/CameraCalibrationDataComponent.h