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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <ImFusion/Vision/LiveStereoCalibrationAlgorithm.h>
Takes two image streams, and allows to sample frames and to compute the calibration from them Both streams have to see the same calibration board The output is the intrinsic calibration for each camera, transformation between the cameras and the deformation fields for stereo rectification Another variant of the algorithm takes image samples as an input. More...
Inheritance diagram for LiveStereoCalibrationAlgorithm:Takes two image streams, and allows to sample frames and to compute the calibration from them Both streams have to see the same calibration board The output is the intrinsic calibration for each camera, transformation between the cameras and the deformation fields for stereo rectification Another variant of the algorithm takes image samples as an input.
Public Member Functions | |
| LiveStereoCalibrationAlgorithm (ImageStream *imageStream1, ImageStream *imageStream2) | |
| Construct live stereo calibration algorithm from two image streams. | |
| LiveStereoCalibrationAlgorithm (SharedImageSet *sis1, SharedImageSet *sis2) | |
| Construct live stereo calibration algorithm from two image sets. | |
| void | setMarkerConfig (const MarkerConfiguration &config) |
| MarkerConfiguration & | markerConfig () |
| void | setCalibrationSettings (const CameraCalibrationSettings &config) |
| CameraCalibrationSettings & | calibrationSettings () |
| bool | loadIntrinsicCalibration (int id, std::string filename) |
| Load intrinsic calibration. | |
| void | saveCalibration (const std::string &foldername) |
| Save intrinsic calibration, registration and deformation maps. | |
| void | setNormalizeImages (bool v) |
| Normalize images before calibration. | |
| bool | normalizeImages () const |
| Returns true if images are normalized before calibration. | |
| void | setAlpha (double v) |
| Set rectifiation alpha value. | |
| double | alpha () const |
| Returns rectification alpha value. | |
| bool | sample () |
| Adds the last recorded sample from the image streams to the image sets. | |
| bool | removeSample (size_t i) |
| Removes the recorded sample at index i from both image sets. | |
| size_t | numberSamples () const |
| Returns the number of recorded samples in the image sets. | |
| const SharedImageSet & | samples1 () const |
| Returns the first image set with the recorded samples. | |
| const SharedImageSet & | samples2 () const |
| Returns the second image set with the recorded samples. | |
| void | compute () override |
| Runs the calibration algorithm on the recorded samples. | |
| OwningDataList | takeOutput () override |
| Return any new Data that was created by the Algorithm during the last call to compute(). | |
| void | configure (const Properties *p) override |
| Configure this object instance by de-serializing the given Properties. | |
| void | configuration (Properties *p) const override |
| Serialize the current object configuration into the given Properties object. | |
| bool | intrinsicCalibrationSet () const |
| Returns true if intrinsic calibration is set for both cameras. | |
| std::pair< mat3, vec5 > | calibration (int id) const |
| Returns a pair (intrinsic calibration, distortion coefficients) for the specified camera id (0 or 1) | |
| mat4 | registration () const |
| Returns the transformation between from camera 1 to camera 2. | |
| const SharedImageSet * | deformationMap (int id) const |
| Returns the deformation map for the specified camera id (0 or 1) which can be used for stereo rectification. | |
| std::vector< mat4 > | cameraPoses (int id) const |
| Returns the estimated camera poses for the specified camera id (0 or 1) | |
| void | calibrationCorrected (mat4 &P1, mat3 &R1, mat4 &P2, mat3 &R2) const |
| Returns the rectified camera calibration matrices and rotations for both cameras. | |
| std::vector< double > | mreIntrinsicCalibration (int id) const |
| Returns the intrinsic calibration MRE for the specified camera id (0 or 1) | |
| double | mreStereoRegistration () const |
| Returns the stereo registration MRE. | |
| SharedImageSet * | images (int id) |
| Returns the images for the specified camera id (0 or 1) | |
| SharedImageSet * | imagesRectified (int id) |
| Returns the rectified images for the specified camera id (0 or 1) | |
| std::vector< std::vector< vec2 > > | imagePoints () |
| Returns the image points detected on camera 0. | |
| std::vector< std::vector< vec2 > > | reprojectedImagePoints () |
| Returns the reprojected image points on camera 0. | |
| std::vector< std::vector< vec2 > > | imagePointsRectified () |
| Returns the rectified image points on camera 0. | |
| std::vector< std::vector< vec2 > > | reprojectedImagePointsRectified () |
| Returns the reprojected rectified image points on camera 0. | |
| Public Member Functions inherited from Algorithm | |
| Algorithm () | |
| Default constructor will registers a single "compute" action that calls compute() and returns status(). | |
| virtual void | setProgress (Progress *progress) |
| Sets a Progress interface the algorithm can use to notify observers about its computing progress. | |
| Progress * | progress () const |
| Returns the progress interface if set. | |
| virtual int | status () const |
| Indicates the status of the last call to compute(). | |
| virtual bool | survivesDataDeletion (const Data *) const |
| Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list. | |
| const FactoryInfo & | factoryInfo () const |
| Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| void | setFactoryInfo (const FactoryInfo &value) |
| Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| Status | runAction (const std::string &id) |
Run the action with name id if it exists. | |
| const std::vector< Action > & | actions () |
| Get a mapping from Action id to Action as registered in this algorithm. | |
| Public Member Functions inherited from Configurable | |
| 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 Member Functions inherited from SignalReceiver | |
| SignalReceiver ()=default | |
| Default constructor. | |
| SignalReceiver (const SignalReceiver &other) | |
| Copy constructor, does not copy any existing signal connections from other. | |
| SignalReceiver & | operator= (SignalReceiver rhs) |
| Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs. | |
| virtual | ~SignalReceiver () |
| Virtual destructor disconnects from all connected signals. | |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Static Public Member Functions inherited from Algorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory function to check algorithm compatibility with input data and optionally instantiate it. | |
Protected Member Functions | |
| vec2 | reprojectToRight (const vec2 &leftPixel, const vec4 &groundPlane) const |
| vec2 | reprojectDeformedToDeformedRight (const vec2 &leftPixel, const vec4 &groundPlane) const |
| std::vector< vec4 > | computeGroundPlane (SharedImageSet *container) |
| double | computeMRE (const std::vector< std::vector< vec2 > > &imagePoints1, const std::vector< std::vector< vec2 > > &imagePoints2) |
| double | computeMRERectified () |
| Protected Member Functions inherited from Algorithm | |
| void | loadDefaults () |
| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| Register an action to be run via runAction. | |
| template<typename D> | |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| Template version of runAction that can be used with a pointer to a member function. | |
| void | registerAction (const Action &action) |
| Register an action. | |
| Protected Member Functions inherited from SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
Additional Inherited Members | |
| Public Types inherited from Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
| Public Attributes inherited from Algorithm | |
| Signal | signalOutputChanged |
| Signal should be emitted by Algorithms when their output/result has changed. | |
| Signal | signalParametersChanged |
| Signal should be emitted by Algorithms when their parameter configuration has changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Protected Attributes inherited from Algorithm | |
| std::string | m_name |
| Algorithm name. | |
| Progress * | m_progress = nullptr |
| Non-owing pointer to a progress interface. May be a nullptr. | |
| FactoryInfo | m_factoryInfo = {} |
| Record describing how this algorithm was instantiated by the AlgorithmFactory. | |
| int | m_status = Status::Unknown |
| Algorithm status after last call to compute() | |
| std::vector< Action > | m_actions |
| Map of key given by the id of the action, of the available actions of this algorithm. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
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overridevirtual |
Runs the calibration algorithm on the recorded samples.
Implements Algorithm.
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overridevirtual |
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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.
Reimplemented from Configurable.
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overridevirtual |
Serialize the current object configuration into the given Properties object.
The default implementation will do so automatically for all registered Parameter and SubProperty instances.
Reimplemented from Configurable.
