Image Component Library (ICL)
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00001 /******************************************************************** 00002 ** Image Component Library (ICL) ** 00003 ** ** 00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** 00005 ** Neuroinformatics Group ** 00006 ** Website: www.iclcv.org and ** 00007 ** http://opensource.cit-ec.de/projects/icl ** 00008 ** ** 00009 ** File : ICLGeom/src/ICLCV/OpenCVCamCalib.h ** 00010 ** Module : ICLGeom ** 00011 ** Authors: Christian Groszewski ** 00012 ** ** 00013 ** ** 00014 ** GNU LESSER GENERAL PUBLIC LICENSE ** 00015 ** This file may be used under the terms of the GNU Lesser General ** 00016 ** Public License version 3.0 as published by the ** 00017 ** ** 00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL ** 00019 ** included in the packaging of this file. Please review the ** 00020 ** following information to ensure the license requirements will ** 00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** 00022 ** ** 00023 ** The development of this software was supported by the ** 00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** 00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** 00026 ** Forschungsgemeinschaft (DFG) in the context of the German ** 00027 ** Excellence Initiative. ** 00028 ** ** 00029 ********************************************************************/ 00030 00031 #pragma once 00032 00033 #include <ICLCore/Img.h> 00034 #include <ICLUtils/BasicTypes.h> 00035 #include <ICLMath/DynMatrix.h> 00036 00037 #include <ICLUtils/Macros.h> 00038 #include <ICLUtils/Uncopyable.h> 00039 00040 #include <ICLCore/OpenCV.h> 00041 00042 00043 namespace icl{ 00044 namespace cv{ 00045 00047 class ICLCV_API OpenCVCamCalib : public utils::Uncopyable{ 00048 00049 struct Data; 00051 Data *m_data; 00052 00053 public: 00055 00060 OpenCVCamCalib(unsigned int boardWidth=6, unsigned int boardHeight=9, unsigned int boardCount=8); 00061 00063 ~OpenCVCamCalib(); 00064 00066 /*@param img image to be searched for chessboard and points 00067 @return overall current number of found chessboard for calibration 00068 */ 00069 int addPoints(const core::ImgBase *img); 00070 00072 void calibrateCam(); 00073 00075 /*@return the new undistorted image*/ 00076 core::ImgBase *undisort(const core::ImgBase *img); 00077 00079 /*@param width of the chessboard 00080 @param height of the chessboard 00081 @param count minimum number of chessboards to be found on images before calibration*/ 00082 void resetData(int width, int height, int count); 00083 00085 /*@return intrinsic params*/ 00086 math::DynMatrix<icl64f> *getIntrinsics(); 00087 00089 /*@return distortion params*/ 00090 math::DynMatrix<icl64f> *getDistortion(); 00091 00093 void loadParams(const char* xmlfilename); 00094 00096 void saveParams(const char* xmlfilename); 00097 00098 }; 00099 } // namespace geom 00100 00101 } 00102