38 #ifndef vpCalibration_h
39 #define vpCalibration_h
43 #include <visp3/core/vpCameraParameters.h>
44 #include <visp3/core/vpDisplay.h>
45 #include <visp3/core/vpExponentialMap.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpImage.h>
48 #include <visp3/core/vpImagePoint.h>
49 #include <visp3/core/vpMath.h>
50 #include <visp3/core/vpMatrix.h>
51 #include <visp3/vision/vpCalibrationException.h>
73 CALIB_VIRTUAL_VS_DIST,
75 CALIB_LAGRANGE_VIRTUAL_VS,
78 CALIB_LAGRANGE_VIRTUAL_VS_DIST,
81 } vpCalibrationMethodType;
139 int addPoint(
double X,
double Y,
double Z,
vpImagePoint &ip);
165 bool verbose =
false);
192 void computeStdDeviation(
double &deviation,
double &deviation_dist);
226 int subsampling_factor = 1);
239 int subsampling_factor = 1);
257 unsigned int get_npt()
const {
return m_npt; }
270 int readData(
const std::string &filename);
287 static int readGrid(
const std::string &filename,
unsigned int &n, std::list<double> &oX, std::list<double> &oY,
288 std::list<double> &oZ,
bool verbose =
false);
293 static void setLambda(
const double &lambda) { m_gain = lambda; }
301 void setAspectRatio(
double aspect_ratio);
310 int writeData(
const std::string &filename);
320 bool verbose =
false,
double aspect_ratio = -1);
321 static void calibVVSMulti(std::vector<vpCalibration> &table_cal,
vpCameraParameters &cam,
322 double &globalReprojectionError,
bool verbose =
false,
double aspect_ratio = -1);
325 bool verbose =
false,
double aspect_ratio = -1);
326 static void calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal,
vpCameraParameters &cam,
327 double &globalReprojectionError,
bool verbose =
false,
328 double aspect_ratio = -1);
331 std::list<double> m_LoX, m_LoY, m_LoZ;
332 std::list<vpImagePoint> m_Lip;
335 double m_residual_dist;
338 static double m_threshold;
339 static unsigned int m_nbIterMax;
340 static double m_gain;
Tools for perspective camera calibration.
static void setLambda(const double &lambda)
static double getLambda()
Get the gain of the virtual visual servoing algorithm.
unsigned int get_npt() const
double getResidual(void) const
vpHomogeneousMatrix eMc_dist
vpCameraParameters cam_dist
double getResidual_dist(void) const
vpHomogeneousMatrix cMo_dist
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
static const vpColor yellow
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...