FlowEngine::CameraCalibrationInterface Class Reference

Stores a camera calibration. More...

#include <CameraCalibrationInterface.h>

Public Types
enum class	AdjustmentType : std::size_t {   None = 0 , AdjustInternals , AdjustInternalsAndK1K2K3 , AdjustInternalsAndK1K2K3P1P2 ,   AdjustInternalsWithPrereconstructionStep , AdjustInternalsAndK1K2K3WithPrereconstructionStep , AdjustInternalsAndK1K2K3P1P2WithPrereconstructionStep , AdjustInternalsWithAutocalibration ,   AdjustInternalsAndK1K2K3WithAutocalibration , AdjustInternalsAndK1K2K3P1P2WithAutocalibration }
	Calibration Adjustment type used in the Structure from Motion procedure. More...

Public Member Functions
virtual FLE_DLL	~CameraCalibrationInterface ()=default
	Default virtual destructor.
virtual FLE_DLL Result	getRadialDistortion (Buffer< double > outRadialDistortion) const =0
virtual FLE_DLL Result	getFocalLength (double &outFx, double &outFy) const =0
virtual FLE_DLL Result	getPrincipalPoint (double &outPx, double &outPy) const =0
virtual FLE_DLL Result	getSkew (double &outSkew) const =0
virtual FLE_DLL void	getAdjustmentType (AdjustmentType &outAdj) const =0
virtual FLE_DLL Result	setRadialDistortion (ConstBuffer< double > radialDistortion)=0
virtual FLE_DLL void	setFocalLength (double inFx, double inFy)=0
virtual FLE_DLL void	setPrincipalPoint (double inPx, double inPy)=0
virtual FLE_DLL void	setSkew (double inSkew)=0
virtual FLE_DLL void	setAdjustmentType (const AdjustmentType &inAdj)=0
virtual FLE_DLL void	setAdjustFocalLength (bool inAdj)=0
virtual FLE_DLL void	setAdjustPrincipalPoint (bool inAdj)=0
virtual FLE_DLL void	setAdjustRadialDistortion (bool inAdj)=0
virtual FLE_DLL void	setAdjustTangentialDistortion (bool inAdj)=0
virtual FLE_DLL void	setUsePrecalibrationStep (bool inPC)=0
virtual FLE_DLL void	setAutocalibrated (bool inAC)=0
virtual FLE_DLL bool	getAdjustFocalLength () const =0
virtual FLE_DLL bool	getAdjustPrincipalPoint () const =0
virtual FLE_DLL bool	getAdjustRadialDistortion () const =0
virtual FLE_DLL bool	getAdjustTangentialDistortion () const =0
virtual FLE_DLL bool	getUsePrecalibrationStep () const =0
virtual FLE_DLL bool	getAutocalibrated () const =0
virtual FLE_DLL Result	undistortImage (Image &inOutImage) const =0
virtual FLE_DLL Result	saveToXML (ConstStringBuffer filePath) const =0
virtual FLE_DLL Result	loadFromXML (ConstStringBuffer filePath)=0
virtual FLE_DLL Size	getModelNameLength () const =0
virtual FLE_DLL Result	getModelName (StringBuffer outName) const =0
virtual FLE_DLL Result	setModelName (ConstStringBuffer name)=0
virtual FLE_DLL Size	getMakeNameLength () const =0
virtual FLE_DLL Result	getMakeName (StringBuffer outName) const =0
virtual FLE_DLL Result	setMakeName (ConstStringBuffer name)=0
virtual FLE_DLL Size	getLensNameLength () const =0
virtual FLE_DLL Result	getLensName (StringBuffer outName) const =0
virtual FLE_DLL Result	setLensName (ConstStringBuffer name)=0

Detailed Description

Stores a camera calibration.

Member Enumeration Documentation

AdjustmentType

enum class FlowEngine::CameraCalibrationInterface::AdjustmentType : std::size_t

strong

Calibration Adjustment type used in the Structure from Motion procedure.

Enumerator
None	All the parameters are kept fixed during the SfM procedures.
AdjustInternals	Adjust internal parameters during the SfM procedures (fx, fy, px, py)
AdjustInternalsAndK1K2K3	Adjust internal parameters and radial distortion k1, k2, k3 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3)
AdjustInternalsAndK1K2K3P1P2	Adjust internal parameters and radial distortion k1, k2, k3 and tangential distortion p1, p2 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3, p1, p2 )
AdjustInternalsWithPrereconstructionStep	Adjust internal parameters during the SfM procedures (fx, fy, px, py) using a prereconstruction step
AdjustInternalsAndK1K2K3WithPrereconstructionStep	Adjust internal parameters and radial distortion k1, k2, k3 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3) using a prereconstruction step
AdjustInternalsAndK1K2K3P1P2WithPrereconstructionStep	Adjust internal parameters and radial distortion k1, k2, k3 and tangential distortion p1, p2 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3, p1, p2 ) using a prereconstruction step
AdjustInternalsWithAutocalibration	Adjust internal parameters during the SfM procedures (fx, fy, px, py) using a autocalibration (no initial parameters required)
AdjustInternalsAndK1K2K3WithAutocalibration	Adjust internal parameters and radial distortion k1, k2, k3 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3) using a autocalibration (no initial parameters required)
AdjustInternalsAndK1K2K3P1P2WithAutocalibration	Adjust internal parameters and radial distortion k1, k2, k3 and tangential distortion p1, p2 parameters during the SfM procedures (fx, fy, px, py, k1, k2, k3, p1, p2 ) using a autocalibration (no initial parameters required)

Constructor & Destructor Documentation

~CameraCalibrationInterface()

virtual FLE_DLL FlowEngine::CameraCalibrationInterface::~CameraCalibrationInterface ( )

virtualdefault

Default virtual destructor.

Member Function Documentation

getAdjustFocalLength()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getAdjustFocalLength ( ) const

pure virtual

Get the focal length adjustment flag.

Returns

Focal length adjustment flag.

getAdjustmentType()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::getAdjustmentType ( AdjustmentType &  outAdj ) const

pure virtual

Returns the calibration adjustment type

Parameters

[out]

outAdj

Adjustment type for this calibration

getAdjustPrincipalPoint()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getAdjustPrincipalPoint ( ) const

pure virtual

Get the principal point adjustment flag.

Returns

Principal point adjustment flag.

getAdjustRadialDistortion()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getAdjustRadialDistortion ( ) const

pure virtual

Get the radial distortion adjustment flag.

Returns

Radial distortion adjustment flag.

getAdjustTangentialDistortion()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getAdjustTangentialDistortion ( ) const

pure virtual

Get the tangential distortion adjustment flag.

Returns

Tangential distortion adjustment flag.

getAutocalibrated()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getAutocalibrated ( ) const

pure virtual

Get the autocalibration flag.

Returns

Autocalibration flag value.

getFocalLength()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getFocalLength ( double &  outFx, double &  outFy  ) const

pure virtual

Returns the calibration focal lengths in pixel.

Parameters

[out]	outFx	focal length in pixel with respect to the x image axis
[out]	outFy	focal length in pixel with respect to the y image axis

Returns

One of the following result codes:

• Result::Success – if the focal lengths are successfully returned.
• Result::FeatureNotAvailable – if called by the free version of the SDK.

Note

This function is not available in the free version of the SDK.

getLensName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getLensName ( StringBuffer  outName ) const

pure virtual

Returns

the length of the camera lens name of this entity.

Parameters

outName

a buffer that receives the name of the entity. Must be at least getLensNameLength() long.

Returns

One of the following result codes:

• Result::Success – if the buffer was successfully filled with the entity name.
• Result::InvalidArgument – if outName is not a valid string buffer.
• Result::BufferTooSmall – if outName is not big enough.

getLensNameLength()

virtual FLE_DLL Size FlowEngine::CameraCalibrationInterface::getLensNameLength ( ) const

pure virtual

Returns

the length of the camera lens name of this entity.

getMakeName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getMakeName ( StringBuffer  outName ) const

pure virtual

Returns

the length of the camera make name of this entity.

Parameters

outName

a buffer that receives the camera make name of the entity. Must be at least getMakeNameLength() long.

Returns

One of the following result codes:

• Result::Success – if the buffer was successfully filled with the entity name.
• Result::InvalidArgument – if outName is not a valid string buffer.
• Result::BufferTooSmall – if outName is not big enough.

getMakeNameLength()

virtual FLE_DLL Size FlowEngine::CameraCalibrationInterface::getMakeNameLength ( ) const

pure virtual

Returns

the length of the camera make name of this entity.

getModelName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getModelName ( StringBuffer  outName ) const

pure virtual

Returns

the length of the camera model name of this entity.

Parameters

outName

a buffer that receives the camera model name of the entity. Must be at least getModelNameLength() long.

Returns

One of the following result codes:

• Result::Success – if the buffer was successfully filled with the entity name.
• Result::InvalidArgument – if outName is not a valid string buffer.
• Result::BufferTooSmall – if outName is not big enough.

getModelNameLength()

virtual FLE_DLL Size FlowEngine::CameraCalibrationInterface::getModelNameLength ( ) const

pure virtual

Returns

the length of the camera model name of this entity.

getPrincipalPoint()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getPrincipalPoint ( double &  outPx, double &  outPy  ) const

pure virtual

Returns the calibration principal point in pixel. This function is not available in the free version of the SDK.

Parameters

[out]	outPx	principal point in pixel with respect to the x image axis
[out]	outPy	principal point in pixel with respect to the y image axis

Returns

One of the following result codes:

• Result::Success – if the principal point was successfully returned.
• Result::FeatureNotAvailable – if called by the free version of the SDK.

Note

This function is not available in the free version of the SDK.

getRadialDistortion()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getRadialDistortion ( Buffer< double >  outRadialDistortion ) const

pure virtual

Returns the Brown's model camera radial distortion coefficients organized as [k1 k2 p1 p2 k3].

Parameters

[out]

outRadialDistortion

a buffer that receives the data in row-major order. The buffer must be at least 5 elements long.

Returns

One of the following result codes:

• Result::Success – if the buffer has been filled with the radial distortion information.
• Result::InvalidArgument – if outRadialDistortion is an invalid buffer.
• Result::BufferTooSmall – if outRadialDistortion is not big enough to receive all the radial distortion info.
• Result::FeatureNotAvailable – if called by the free version of the SDK.

Note

This function is not available in the free version of the SDK.

getSkew()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::getSkew ( double &  outSkew ) const

pure virtual

Returns the calibration skew point in pixel.

Parameters

[out]

outSkew

the skew of the calibration.

Returns

One of the following result codes:

• Result::Success – if the value was successfully returned.
• Result::FeatureNotAvailable – if called by the free version of the SDK.

Note

This function is not available in the free version of the SDK.

getUsePrecalibrationStep()

virtual FLE_DLL bool FlowEngine::CameraCalibrationInterface::getUsePrecalibrationStep ( ) const

pure virtual

Get the precalibration step flag.

Returns

Precalibration flag value.

loadFromXML()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::loadFromXML ( ConstStringBuffer  filePath )

pure virtual

Loads the camera calibration info from an XML file. The file shall contain 1 calibration.

Parameters

[in]

filePath

string buffer that contains the UTF-8 file path.

Returns

One of the following result codes:

• Result::Success – if the operation was successful.
• Result::InvalidArgument –
  • if filePath is not a valid string buffer
  • if the file is not a valid calibration XML format
  • if the file contains more than 1 calibration
• Result::FeatureNotAvailable – if this method is called by the Free version of the SDK.
• Result::GenericError – if any other error occurred.

Note

This function is not available in the free version of the SDK.

saveToXML()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::saveToXML ( ConstStringBuffer  filePath ) const

pure virtual

Saves the camera calibration info to an XML file.

Parameters

[in]

filePath

string buffer that contains the UTF-8 file path.

Returns

One of the following result codes:

• Result::Success – if the operation was successful.
• Result::InvalidArgument – if filePath is not a valid string buffer.
• Result::DiskWriteError – if the saving process failed for file system related reasons.
• Result::FeatureNotAvailable – if this method is called by the Free version of the SDK.
• Result::GenericError – if any other error occurred.

Note

This function is not available in the free version of the SDK.

setAdjustFocalLength()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAdjustFocalLength ( bool  inAdj )

pure virtual

Set to adjust or not the focal length during the SfM reconstruction

Parameters

[in]

inAdj

Adjustment enabled or disabled

setAdjustmentType()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAdjustmentType ( const AdjustmentType &  inAdj )

pure virtual

Set the calibration adjustment type

Parameters

[in]

inAdj

Adjustment type for this calibration

setAdjustPrincipalPoint()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAdjustPrincipalPoint ( bool  inAdj )

pure virtual

Set to adjust or not the principal point during the SfM reconstruction

Parameters

[in]

inAdj

Adjustment enabled or disabled

setAdjustRadialDistortion()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAdjustRadialDistortion ( bool  inAdj )

pure virtual

Set to adjust or not the radial distortion during the SfM reconstruction

Parameters

[in]

inAdj

Adjustment enabled or disabled

setAdjustTangentialDistortion()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAdjustTangentialDistortion ( bool  inAdj )

pure virtual

Set to adjust or not the tangential distortion during the SfM reconstruction

Parameters

[in]

inAdj

Adjustment enabled or disabled

setAutocalibrated()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setAutocalibrated ( bool  inAC )

pure virtual

Set to consider the calibration fully autocalibrated.

Parameters

[in]

inAC

Autocalibration enabled or disabled

setFocalLength()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setFocalLength ( double  inFx, double  inFy  )

pure virtual

Set the calibration focal lengths in pixel

Parameters

[in]	inFx	focal length in pixel with respect to the x image axis
[in]	inFy	focal length in pixel with respect to the y image axis

setLensName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::setLensName ( ConstStringBuffer  name )

pure virtual

Set the camera lens name of this entity.

Parameters

name	a constant string buffer containing the camera lens name of the entity

Returns

One of the following result codes:

• Result::Success – if the entity name was successfully changed.
• Result::InvalidArgument – if name is not a valid string buffer.

setMakeName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::setMakeName ( ConstStringBuffer  name )

pure virtual

Set the camera make name of this entity.

Parameters

name	a constant string buffer containing the camera make name of the entity

Returns

One of the following result codes:

• Result::Success – if the entity name was successfully changed.
• Result::InvalidArgument – if name is not a valid string buffer.

setModelName()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::setModelName ( ConstStringBuffer  name )

pure virtual

Set the camera model name of this entity.

Parameters

name	a constant string buffer containing the camera model name of the entity

Returns

One of the following result codes:

• Result::Success – if the entity name was successfully changed.
• Result::InvalidArgument – if name is not a valid string buffer.

setPrincipalPoint()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setPrincipalPoint ( double  inPx, double  inPy  )

pure virtual

Set the calibration principal point in pixel

Parameters

[in]	inPx	principal point in pixel with respect to the x image axis
[in]	inPy	principal point in pixel with respect to the y image axis

setRadialDistortion()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::setRadialDistortion ( ConstBuffer< double >  radialDistortion )

pure virtual

Set the Brown's model camera radial distortion coefficients organized as [k1 k2 p1 p2 k3]

Parameters

[in]

radialDistortion

pointer to a buffer that receives the data in row-major order. The buffer must be at least 5 elements long or the behavior is undefined

setSkew()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setSkew ( double  inSkew )

pure virtual

Set the calibration skew point in pixel

Parameters

[in]

inSkew

principal point in pixel with respect to the x image axis

setUsePrecalibrationStep()

virtual FLE_DLL void FlowEngine::CameraCalibrationInterface::setUsePrecalibrationStep ( bool  inPC )

pure virtual

Set to use the precalibration step during the SfM reconstruction. When disabled the parameters are only adjusted in the final bundle adjustment.

Parameters

[in]

inPC

Precalibration enabled or disabled

undistortImage()

virtual FLE_DLL Result FlowEngine::CameraCalibrationInterface::undistortImage ( Image &  inOutImage ) const

pure virtual

Undistorts the supplied image.

Parameters

[in,out]

inOutImage

the image to be undistorted.

Returns

One of the following result codes:

• Result::Success – if the image was succesfully undistorted.
• Result::InvalidArgument – if inOutImage has invalid dimensions or its data buffer is not valid.
• Result::BufferTooSmall – if inOutImage data buffer is not big enough.
• Result::GenericError – if any other error occurred.