#include <RGBD/Include/ImFusion/RGBD/RGBDCalibrationAlgorithm.h>

RGBDCalibrationAlgorithm estimates intrinsic and extrinsic calibration parameters for RGB-D camera systems. More...

Inheritance diagram for RGBDCalibrationAlgorithm:

Detailed Description

RGBDCalibrationAlgorithm estimates intrinsic and extrinsic calibration parameters for RGB-D camera systems.

The algorithm is designed to calibrate IR, depth, and color sensors using chessboard patterns and marker planes. It supports flexible input configurations and provides access to calibration results for downstream processing.

The class does not take ownership of the input image sets; their lifetime is not managed by the algorithm. The caller must ensure that the image sets remain valid for the entire time the algorithm is used. Calibration results are stored in the RGBDCalibration struct and can be queried or set externally.

Typical usage:

// Setup calibration algorithm with image sets
RGBDCalibrationAlgorithm calib(irImages, depthImages, colorImages);
calib.compute();
RGBDCalibrationAlgorithm::RGBDCalibration result;
if (calib.calibration(result))
{
    // Use calibration parameters
}

Important aspects:

Input image sets must remain valid for the lifetime of the algorithm.
All images must be compatible in resolution and calibration.
Not thread-safe.
Error handling is via return codes; no exceptions are thrown.
Depth corruption handling and undistortion can be configured.
The algorithm is intended for use in RGBD sensor calibration pipelines.

See also: ImFusion::CameraCalibrationAlgorithm

Classes
struct	RGBDCalibration
	Struct holding all calibration results for an RGBD sensor. More...

Public Member Functions
	RGBDCalibrationAlgorithm (SharedImageSet irImages, SharedImageSet depthImages, SharedImageSet *colorImages=nullptr)
	Constructs the calibration algorithm with IR, depth, and optionally color image sets.

SharedImageSet *	irImages () const
	Returns the IR image set (ownership not transferred).

SharedImageSet *	depthImages () const
	Returns the depth image set (ownership not transferred).

SharedImageSet *	colorImages () const
	Returns the color image set (ownership not transferred).

void	compute () override
	Runs the calibration algorithm.

CameraCalibrationAlgorithm *	irCalibration ()
	Returns the calibration object for configuring standard chessboard calibration (IR sensor).

CameraCalibrationAlgorithm *	colorCalibration ()
	Returns the calibration object for configuring standard chessboard calibration (color sensor).

bool	calibration (RGBDCalibration &calib) const
	Returns the current calibration results.

void	setCalibration (const RGBDCalibration &calib)
	Sets the calibration results.

void	clearCalibration ()
	Clears the current calibration results.

void	setDropCorruptDepthData (bool drop)
	Enables or disables dropping of corrupt depth data.

bool	dropCorruptDepthData () const
	Returns whether corrupt depth data is dropped.

void	setCorruptDepthRange (std::array< float, 2 > range)
	Sets the range for corrupt depth values (world units, usually in mm).

std::array< float, 2 >	corruptDepthRange () const
	Returns the range for corrupt depth values (world units, usually in mm).

void	setIrDepthYShift (int shift)
	Sets the vertical shift for IR/depth image alignment (pixels).

int	irDepthYShift () const
	Returns the vertical shift for IR/depth image alignment (pixels).

void	setUndistort (bool v)
	Enables or disables undistortion of images.

bool	undistort () const
	Returns whether undistortion is enabled.

void	setDontCalibrate (bool v)
	Enables or disables calibration (for testing or debugging).

bool	dontCalibrate () const
	Returns whether calibration is disabled.

bool	fittingError (std::vector< vec4 > &planes, std::vector< bool > &selection) const
	Computes the fitting error for marker planes.

OwningDataList	takeOutput () override
	Returns the output data list containing calibration results.

void	configure (const Properties *p) override
	Configures the algorithm from a properties object.

void	configuration (Properties *p) const override
	Writes the current configuration to a properties object.

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

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)
	Factory method for compatibility checking and creation.

static bool	getMarkerMask (TypedImage< float > imgDepth, const std::vector< vec2 > &cornersImg, TypedImage< unsigned char > mask)
	Creates a binary mask image with pixels inside the rectangle defined by given corners set to 1.

static bool	getMarkerPlane (TypedImage< float > imgDepth, const mat3 &depthK, const std::vector< vec2 > &cornersImg, vec4 &plane, TypedImage< unsigned char > mask=nullptr, double minInlierRatio=0.8)
	Fits a plane to a depth image using pixels inside a rectangle defined by given corners.

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.

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 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 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.

Constructor & Destructor Documentation

◆ RGBDCalibrationAlgorithm()

RGBDCalibrationAlgorithm	(	SharedImageSet *	irImages,
		SharedImageSet *	depthImages,
		SharedImageSet *	colorImages = nullptr )

Constructs the calibration algorithm with IR, depth, and optionally color image sets.

Ownership of image sets is not transferred; they must remain valid for the algorithm's lifetime.

Parameters

irImages	Pointer to IR image set.
depthImages	Pointer to depth image set.
colorImages	Pointer to color image set (optional).

Member Function Documentation

◆ getMarkerMask()

static bool getMarkerMask	(	TypedImage< float > *	imgDepth,
		const std::vector< vec2 > &	cornersImg,
		TypedImage< unsigned char > *	mask )

static

Creates a binary mask image with pixels inside the rectangle defined by given corners set to 1.

Parameters

imgDepth	Pointer to depth image.
cornersImg	Rectangle corners in image coordinates.
mask	Output mask image (pixels inside rectangle set to 1).

Returns: True if successful.

◆ getMarkerPlane()

static bool getMarkerPlane	(	TypedImage< float > *	imgDepth,
		const mat3 &	depthK,
		const std::vector< vec2 > &	cornersImg,
		vec4 &	plane,
		TypedImage< unsigned char > *	mask = nullptr,
		double	minInlierRatio = 0.8 )

static

Fits a plane to a depth image using pixels inside a rectangle defined by given corners.

Parameters

imgDepth	Pointer to depth image.
depthK	Intrinsic matrix of depth camera.
cornersImg	Rectangle corners in image coordinates.
plane	Output plane parameters (ax + by + cz + d = 0).
mask	Optional output mask image.
minInlierRatio	Minimum ratio of inliers required for a valid fit.

Returns: True if successful.

◆ compute()

void compute ( )

overridevirtual

Runs the calibration algorithm.

Implements Algorithm.

◆ calibration()

bool calibration ( RGBDCalibration & calib ) const

Returns the current calibration results.

Parameters

calib Output calibration struct.

Returns: True if calibration is valid.

◆ setCalibration()

void setCalibration ( const RGBDCalibration & calib )

Sets the calibration results.

Parameters

calib Calibration struct to set.

◆ setDropCorruptDepthData()

void setDropCorruptDepthData ( bool drop )

inline

Enables or disables dropping of corrupt depth data.

Parameters

drop	True to drop corrupt data.

◆ setCorruptDepthRange()

void setCorruptDepthRange ( std::array< float, 2 > range )

inline

Sets the range for corrupt depth values (world units, usually in mm).

Parameters

range Array specifying [min, max] corrupt depth values.

◆ setIrDepthYShift()

void setIrDepthYShift ( int shift )

inline

Sets the vertical shift for IR/depth image alignment (pixels).

Parameters

shift Y-axis shift in pixels.

◆ setUndistort()

void setUndistort ( bool v )

inline

Enables or disables undistortion of images.

Parameters

v	True to enable undistortion.

◆ setDontCalibrate()

void setDontCalibrate ( bool v )

inline

Enables or disables calibration (for testing or debugging).

Parameters

v	True to disable calibration.

◆ fittingError()

bool fittingError	(	std::vector< vec4 > &	planes,
		std::vector< bool > &	selection ) const

Computes the fitting error for marker planes.

Parameters

planes	Output vector of plane parameters.
selection	Output vector indicating selected planes.

Returns: True if fitting error was computed.

◆ takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns the output data list containing calibration results.

Reimplemented from Algorithm.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configures the algorithm from a properties object.

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Writes the current configuration to a properties object.

Reimplemented from Configurable.

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

RGBD/Include/ImFusion/RGBD/RGBDCalibrationAlgorithm.h

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ RGBDCalibrationAlgorithm()

Member Function Documentation

◆ getMarkerMask()

◆ getMarkerPlane()

◆ compute()

◆ calibration()

◆ setCalibration()

◆ setDropCorruptDepthData()

◆ setCorruptDepthRange()

◆ setIrDepthYShift()

◆ setUndistort()

◆ setDontCalibrate()

◆ fittingError()

◆ takeOutput()

◆ configure()

◆ configuration()