vpCalibration.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Camera calibration.
 */

#ifndef vpCalibration_h
#define vpCalibration_h
 
#include <list>
#include <vector>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/vision/vpCalibrationException.h>
class VISP_EXPORT vpCalibration
{
public:
  typedef enum
  {
    CALIB_LAGRANGE,                 
    CALIB_VIRTUAL_VS,               
    CALIB_VIRTUAL_VS_DIST,          
    CALIB_LAGRANGE_VIRTUAL_VS,      
    CALIB_LAGRANGE_VIRTUAL_VS_DIST, 
  } vpCalibrationMethodType;

  vpHomogeneousMatrix cMo;
  vpHomogeneousMatrix cMo_dist;
  vpCameraParameters cam;
  vpCameraParameters cam_dist;

  vpHomogeneousMatrix rMe;
  vpHomogeneousMatrix eMc;
  vpHomogeneousMatrix eMc_dist;
  double m_aspect_ratio;
 
public:
  vpCalibration();

  vpCalibration(const vpCalibration &c);

  virtual ~vpCalibration();

  int addPoint(double X, double Y, double Z, vpImagePoint &ip);

  vpCalibration &operator=(const vpCalibration &twinCalibration);
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  vp_deprecated static void calibrationTsai(const std::vector<vpHomogeneousMatrix> &cMo,
                                            const std::vector<vpHomogeneousMatrix> &rMe, vpHomogeneousMatrix &eMc);
  vp_deprecated static int computeCalibrationTsai(const std::vector<vpCalibration> &table_cal, vpHomogeneousMatrix &eMc,
                                                  vpHomogeneousMatrix &eMc_dist);
#endif

  int clearPoint();

  int computeCalibration(vpCalibrationMethodType method, vpHomogeneousMatrix &cMo_est, vpCameraParameters &cam_est,
                         bool verbose = false);

  static int computeCalibrationMulti(vpCalibrationMethodType method, std::vector<vpCalibration> &table_cal,
                                     vpCameraParameters &cam_est, double &globalReprojectionError, bool verbose = false);

  void computeStdDeviation(double &deviation, double &deviation_dist);

  double computeStdDeviation(const vpHomogeneousMatrix &cMo_est, const vpCameraParameters &camera);

  double computeStdDeviation_dist(const vpHomogeneousMatrix &cMo_est, const vpCameraParameters &camera);

  int displayData(vpImage<unsigned char> &I, vpColor color = vpColor::red, unsigned int thickness = 1,
                  int subsampling_factor = 1);

  int displayGrid(vpImage<unsigned char> &I, vpColor color = vpColor::yellow, unsigned int thickness = 1,
                  int subsampling_factor = 1);

  static double getLambda() { return gain; }

  double getResidual(void) const { return residual; }

  double getResidual_dist(void) const { return residual_dist; }

  unsigned int get_npt() const { return npt; }

  int init();

  int readData(const std::string &filename);

  static int readGrid(const std::string &filename, unsigned int &n, std::list<double> &oX, std::list<double> &oY,
                      std::list<double> &oZ, bool verbose = false);

  static void setLambda(const double &lambda) { gain = lambda; }

  void setAspectRatio(double aspect_ratio);

  int writeData(const std::string &filename);
 
private:
  void computePose(const vpCameraParameters &cam, vpHomogeneousMatrix &cMo);
  void calibLagrange(vpCameraParameters &cam, vpHomogeneousMatrix &cMo);

  void calibVVS(vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool verbose = false);
 
  static void calibVVSMulti(unsigned int nbPose, vpCalibration table_cal[], vpCameraParameters &cam,
                            bool verbose = false, double aspect_ratio = -1);
  static void calibVVSMulti(std::vector<vpCalibration> &table_cal, vpCameraParameters &cam,
                            double &globalReprojectionError, bool verbose = false, double aspect_ratio = -1);
  void calibVVSWithDistortion(vpCameraParameters &cam, vpHomogeneousMatrix &cMo, bool verbose = false);
  static void calibVVSWithDistortionMulti(unsigned int nbPose, vpCalibration table_cal[], vpCameraParameters &cam,
                                          bool verbose = false, double aspect_ratio = -1);
  static void calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal, vpCameraParameters &cam,
                                          double &globalReprojectionError, bool verbose = false,
                                          double aspect_ratio = -1);
 
private:
  unsigned int npt; 
  std::list<double> LoX, LoY,
    LoZ;                     
  std::list<vpImagePoint> Lip; 
 
  double residual;      
  double residual_dist; 
 
  static double threshold;
  static unsigned int nbIterMax;
  static double gain;
};
 
#endif