Calibration Class Reference

#include <Calibration.h>

Provides functions for calibrating multi-sensor setups. More...

Detailed Description

Provides functions for calibrating multi-sensor setups.

To calibrate a multi-sensor setup a calibration marker needs to be placed in such a way that it is visible in all sensors which are to be calibrated. For each sensor a color image needs to be acquired. The calibration object needs to be initialized with the number of sensors to calibrate by calling the init method. Next the markers used for calibration have to be specified using setMarker. It is possible to specify more than one marker. In this case the transformation from each marker coordinate system to a common calibration coordinate system needs to be provided. Next the calibration images need to be set using setImage. At this point calibrate can be called to calibrate the sensor locations. The results can be retrieved using getTransformation. The returned transformation provides the transformation from the specified sensor coordinate system to the coordinate system of the first sensor. It is represented as homogeneous 4x4 matrix with the upper left 3x3 matrix representig the rotation component and the upper right 3x1 vector representing the translation component. The matrix can be passed directly to the sensorT parameter of Reconstruction::addFrame method.

Public Member Functions
	Calibration ()
	Create calibration object.
	~Calibration ()
	Destroy calibration object.
bool	init (int sensors)
	Set up calibration. More...
void	setMarker (int markerId, double markerSize, const Mat4 *markerT=0)
	Define marker with given ID. More...
bool	setImage (int sensor, const DepthImage &imgDepth, const ColorImage &imgColor, const Mat3 &depthK, const Mat3 &colorK, const Mat4 *depthToColorT=0)
	Set image for given sensor. More...
bool	calibrate ()
	Perform calibration using the previously set markers and images. More...
bool	getTransformation (int sensor, Mat4 &T)
	Get transformation from specified sensor to first sensor. More...

Static Public Member Functions
static bool	getMarkerPose (int markerId, double markerSize, const ColorImage &imgColor, const Mat3 &colorK, Mat4 &T)
	Get transformation from specified marker to sensor. More...

Member Function Documentation

init()

bool init

(

int

sensors

)

Set up calibration.

Parameters

sensors

Nubmer of sensors to calibrate

Returns

True if successful, false otherwise

Needs to be called before any other functions can be called. Clears previously set markers and images.

setMarker()

void setMarker	(	int	markerId,
		double	markerSize,
		const Mat4 *	markerT = 0
	)

Define marker with given ID.

Parameters

markerId	ID of the marker
markerSize	Side length of the marker in mm
markerT	Optional transformation from the marker coordinate system to the calibration object coordinate system.

Returns

False if invalid sensor index was provided, true otherwise

Overwrittes previously defined markers with the same ID.

setImage()

bool setImage	(	int	sensor,
		const DepthImage &	imgDepth,
		const ColorImage &	imgColor,
		const Mat3 &	depthK,
		const Mat3 &	colorK,
		const Mat4 *	depthToColorT = 0
	)

Set image for given sensor.

Parameters

sensor	Sensor index
imgDepth	Depth image from sensor corresponding to color image showing calibration target
imgColor	Color image from sensor showing calibration target
depthK	Intrinsics of depth sensor
colorK	Intrinsics of color sensor (typically identical to depth intrinsics)
depthToColorT	Transformation from depth to color

Returns

False if invalid sensor index was provide, true otherwise

If the image has been previously set it is overwritten

calibrate()

bool calibrate

(

)

Perform calibration using the previously set markers and images.

Returns

True if the marker was detected in all images and calibration succeeded, false otherwise

Before calling this method the marker(s) and the images have to be specified using setMarker and setImage

getTransformation()

bool getTransformation	(	int	sensor,
		Mat4 &	T
	)

Get transformation from specified sensor to first sensor.

Parameters

sensor	Sensor index for which to retrieve transformation
T	Transformation from specified to first sensor

Returns

True if transformation is available, false otherwise

getMarkerPose()

static bool getMarkerPose ( int  markerId, double  markerSize, const ColorImage &  imgColor, const Mat3 &  colorK, Mat4 &  T  )

static

Get transformation from specified marker to sensor.

Parameters

markerId	ID of the marker
markerSize	Side length of the marker in mm
imgColor	Color image from sensor showing calibration target
colorK	Intrinsics of color sensor (typically identical to depth intrinsics)
T	Transformation from marker coordinate system to sensor

Returns

True if transformation is available, false otherwise

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

• E:/BuildAgent/work/97cc5eac790048b1/RecFusionSDK/include/Calibration.h