/*!
Compute the multi-images calibration according to the desired method using many poses.
\param method : Method used to estimate the camera parameters.
\param table_cal : Vector of vpCalibration.
\param cam_est : Estimated intrinsic camera parameters.
\param globalReprojectionError : Global reprojection error or global residual.
\param verbose : Set at true if information about the residual at each loop
of the algorithm is hoped.
\return 0 if the computation was managed succeed.
*/
int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
std::vector<vpCalibration> &table_cal,
vpCameraParameters& cam_est,
double &globalReprojectionError,
bool verbose)
{
try{
unsigned int nbPose = (unsigned int) table_cal.size();
for(unsigned int i=0;i<nbPose;i++){
if(table_cal[i].get_npt()>3)
table_cal[i].computePose(cam_est,table_cal[i].cMo);
}
switch (method) {
case CALIB_LAGRANGE : {
if(nbPose > 1){
std::cout << "this calibration method is not available in" << std::endl
<< "vpCalibration::computeCalibrationMulti()" << std::endl;
return -1 ;
}
else {
table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
table_cal[0].cam = cam_est ;
table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
break;
}
case CALIB_LAGRANGE_VIRTUAL_VS :
case CALIB_LAGRANGE_VIRTUAL_VS_DIST : {
if(nbPose > 1){
std::cout << "this calibration method is not available in" << std::endl
<< "vpCalibration::computeCalibrationMulti()" << std::endl
<< "with several images." << std::endl;
return -1 ;
}
else {
table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
table_cal[0].cam = cam_est ;
table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
calibVVSMulti(table_cal, cam_est, globalReprojectionError, verbose);
break ;
}
case CALIB_VIRTUAL_VS:
case CALIB_VIRTUAL_VS_DIST: {
calibVVSMulti(table_cal, cam_est, globalReprojectionError, verbose);
break ;
}
}
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
cam_est.printParameters();
}
switch (method)
{
case CALIB_LAGRANGE :
case CALIB_LAGRANGE_VIRTUAL_VS :
case CALIB_VIRTUAL_VS:
verbose = false ;
break;
case CALIB_LAGRANGE_VIRTUAL_VS_DIST :
case CALIB_VIRTUAL_VS_DIST:
{
if(verbose)
std::cout << "Compute camera parameters with distortion"<<std::endl;
calibVVSWithDistortionMulti(table_cal, cam_est, globalReprojectionError, verbose);
}
break ;
}
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
table_cal[0].cam.printParameters();
// std::cout << "Camera parameters with distortion:" << std::endl;
cam_est.printParameters();
std::cout<<std::endl;
}
return 0 ;
}
catch(...){ throw; }
}
/*!
Compute the calibration according to the desired method using one pose.
\param method : Method that will be used to estimate the parameters.
\param cMo_est : estimated homogeneous matrix that defines the pose.
\param cam_est : estimated intrinsic camera parameters.
\param verbose : set at true if information about the residual at each loop
of the algorithm is hoped.
\return 0 if the calibration computation succeed.
*/
int vpCalibration::computeCalibration(vpCalibrationMethodType method,
vpHomogeneousMatrix &cMo_est,
vpCameraParameters &cam_est,
bool verbose)
{
try{
computePose(cam_est,cMo_est);
switch (method)
{
case CALIB_LAGRANGE :
case CALIB_LAGRANGE_VIRTUAL_VS :
{
calibLagrange(cam_est, cMo_est);
}
break;
case CALIB_VIRTUAL_VS:
case CALIB_VIRTUAL_VS_DIST:
case CALIB_LAGRANGE_VIRTUAL_VS_DIST:
default:
break;
}
switch (method)
{
case CALIB_VIRTUAL_VS:
case CALIB_VIRTUAL_VS_DIST:
case CALIB_LAGRANGE_VIRTUAL_VS:
case CALIB_LAGRANGE_VIRTUAL_VS_DIST:
{
if (verbose){std::cout << "start calibration without distortion"<< std::endl;}
calibVVS(cam_est, cMo_est, verbose);
}
break ;
case CALIB_LAGRANGE:
default:
break;
}
this->cMo = cMo_est;
this->cMo_dist = cMo_est;
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
cam_est.printParameters();
}
this->cam = cam_est;
switch (method)
{
case CALIB_VIRTUAL_VS_DIST:
case CALIB_LAGRANGE_VIRTUAL_VS_DIST:
{
if (verbose){std::cout << "start calibration with distortion"<< std::endl;}
calibVVSWithDistortion(cam_est, cMo_est, verbose);
}
break ;
case CALIB_LAGRANGE:
case CALIB_VIRTUAL_VS:
case CALIB_LAGRANGE_VIRTUAL_VS:
default:
break;
}
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
this->cam.printParameters();
// std::cout << "Camera parameters with distortion :" << std::endl;
cam_est.printParameters();
}
this->cam_dist = cam_est ;
this->cMo_dist = cMo_est;
return 0 ;
}
catch(...){
throw;
}
}
