Calibration

Classes
class	oevislib_net.ComputerVision.Calibration.CalibrationMap
	Represents the output of a calibration function, extending the ImageMap but containing also the pixel resolution. More...
class	oevislib_net.ComputerVision.Calibration.PatternFinderParams
	Parameters for findCalibrationPatterns(). More...
class	oevislib_net.ComputerVision.Calibration.CalibrationParams
	Parameters for calibrate(). More...
class	oevislib_net.ComputerVision.Calibration.CalibrationTransform
	Calibration transform used to move geometric figures from/to image/world coordinates. More...
class	oevislib_net.ComputerVision.Calibration.CameraCalibrationModel
	Class containing a generic camera calibration model. More...

Functions
static Conditional< CalibrationMap >	oevislib_net.ComputerVision.Calibration.Calibration.Calibrate (Image inImage, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams=null, AbortCallback inAbortCallback=null, Optional< Array< AnnotatedPoint2D > > outPatternPoints=null, Optional< CameraCalibrationModel > outCameraCalibrationModel=null)
	Calibrate a camera with one of the available models.
static Conditional< CalibrationMap >	oevislib_net.ComputerVision.Calibration.Calibration.Calibrate (Array< AnnotatedPoint2D > inAnnotatedPatterns, Size inSize, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams=null, AbortCallback inAbortCallback=null, Optional< CameraCalibrationModel > outCameraCalibrationModel=null)
	Calibrate a camera with one of the available models.
static Conditional< CalibrationMap >	oevislib_net.ComputerVision.Calibration.Calibration.Calibrate (Array< Image > inImages, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams=null, AbortCallback inAbortCallback=null, Optional< Array< Array< AnnotatedPoint2D > > > outPatternPoints=null, Optional< CameraCalibrationModel > outCameraCalibrationModel=null)
	Calibrate a camera with one of the available models using different views.
static Array< AnnotatedPoint2D >	oevislib_net.ComputerVision.Calibration.Calibration.FindCalibrationPatterns (Image inImage, PatternFinderParams inPatternFinderParams, AbortCallback inAbortCallback)
	Extract calibration pattern from an image.
static Array< Array< AnnotatedPoint2D > >	oevislib_net.ComputerVision.Calibration.Calibration.FindCalibrationPatterns (Array< Image > inImages, PatternFinderParams inPatternFinderParams, AbortCallback inAbortCallback)
	Extract calibration patterns from an array of images.
static Matrix	oevislib_net.ComputerVision.Calibration.Calibration.AlignHomography (Matrix inHomography, UCS2D inOrigin, Optional< CameraCalibrationModel > inCameraModel=null)
	Changes the homography transform in such a way that the transformed frame of reference has the alignment provided in input.
static Matrix	oevislib_net.ComputerVision.Calibration.Calibration.EstimateHomography (Array< Point2D > inSourcePoints, Array< Point2D > inDestinationPoints, Optional< CameraCalibrationModel > inCameraCalibrationModel, Optional< Array< float > > outResiduals=null)
	Compute the homography transformation between source points and destination points correspondence.
static Matrix	oevislib_net.ComputerVision.Calibration.Calibration.EstimateHomography (Array< AnnotatedPoint2D > inAnnotatedPoints, Optional< CameraCalibrationModel > inCameraCalibrationModel, Optional< Array< float > > outResiduals=null)
	Compute the homography transformation between source points and destination points correspondence.
static Array< Point2D >	oevislib_net.ComputerVision.Calibration.Transformations.TransformCoordinates (Array< Point2D > inObjects, CalibrationTransform inCalibrationTransform, bool inReverse=false)
	Transform coordinates between Image and World frame of reference.
static UCS2D	oevislib_net.ComputerVision.Calibration.Transformations.TransformAlignment (Point2D inPoint, float inAngle, CalibrationTransform inCalibrationTransform, bool inInverseY=false, bool inReverse=false)
	Returns the corresponding coordinate system for a given point, angle and calibration transform.

Detailed Description

Function Documentation

AlignHomography()

Matrix oevislib_net.ComputerVision.Calibration.Calibration.AlignHomography ( Matrix inHomography, UCS2D inOrigin, Optional< CameraCalibrationModel > inCameraModel = null )

inlinestatic

Changes the homography transform in such a way that the transformed frame of reference has the alignment provided in input.

Parameters

inHomography	The homography matrix to transform.
inOrigin	The desired alignment.
inCameraModel	Camera calibration model used for optional undistortion of the alignment origin.

Returns

Homography that defines a transform in a frame of reference with the desired alignment.

Calibrate() [1/3]

Conditional< CalibrationMap > oevislib_net.ComputerVision.Calibration.Calibration.Calibrate ( Array< AnnotatedPoint2D > inAnnotatedPatterns, Size inSize, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams = null, AbortCallback inAbortCallback = null, Optional< CameraCalibrationModel > outCameraCalibrationModel = null )

inlinestatic

Calibrate a camera with one of the available models.

Parameters

inAnnotatedPatterns	Array of AnnotatedPoint2D containing the labelled patterns.
inSize	The size of the calibration images from which calibration patterns were extracted.
inPatternFinderParams	Parameters related to the type of pattern used in the calibration image.
inCalibrateParams	Parameters related to the calibration procedure.
inAbortCallback	Callback function cyclically called during the calibration process to check if it needs to be stopped. The function should return true if the process should be aborted.
outCameraCalibrationModel	Camera calibration model (required by CalibrationTransform).

Returns

CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.

Calibrate() [2/3]

Conditional< CalibrationMap > oevislib_net.ComputerVision.Calibration.Calibration.Calibrate ( Array< Image > inImages, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams = null, AbortCallback inAbortCallback = null, Optional< Array< Array< AnnotatedPoint2D > > > outPatternPoints = null, Optional< CameraCalibrationModel > outCameraCalibrationModel = null )

inlinestatic

Calibrate a camera with one of the available models using different views.

Parameters

inImages	A vector containing an image for each view of the calibration pattern.
inPatternFinderParams	Parameters related to the type of pattern used in the calibration image.
inCalibrateParams	Parameters related to the calibration procedure.
inAbortCallback	Callback function cyclically called during the calibration process to check if it needs to be stopped. The function should return true if the process should be aborted.
outPatternPoints	Array of AnnotatedPoint2D containing the found patterns.
outCameraCalibrationModel	Camera calibration model (required by CalibrationTransform).

Returns

CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.

Calibrate() [3/3]

Conditional< CalibrationMap > oevislib_net.ComputerVision.Calibration.Calibration.Calibrate ( Image inImage, PatternFinderParams inPatternFinderParams, CalibrationParams inCalibrateParams = null, AbortCallback inAbortCallback = null, Optional< Array< AnnotatedPoint2D > > outPatternPoints = null, Optional< CameraCalibrationModel > outCameraCalibrationModel = null )

inlinestatic

Calibrate a camera with one of the available models.

Parameters

inImage	An image containing the calibration pattern.
inPatternFinderParams	Parameters related to the type of pattern used in the calibration image.
inCalibrateParams	Parameters related to the calibration procedure.
inAbortCallback	Callback function cyclically called during the calibration process to check if it needs to be stopped. The function should return true if the process should be aborted.
outPatternPoints	Array of AnnotatedPoint2D containing the found patterns.
outCameraCalibrationModel	Camera calibration model (required by CalibrationTransform).

Returns

CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.

EstimateHomography() [1/2]

Matrix oevislib_net.ComputerVision.Calibration.Calibration.EstimateHomography ( Array< AnnotatedPoint2D > inAnnotatedPoints, Optional< CameraCalibrationModel > inCameraCalibrationModel, Optional< Array< float > > outResiduals = null )

inlinestatic

Compute the homography transformation between source points and destination points correspondence.

Parameters

inAnnotatedPoints	Array of annotated points. Annotation should contain the world plane coordinates while points should contain the image plane coordinates.
inCameraCalibrationModel	Camera calibration model obtained during camera calibration.
outResiduals	Optional Array of Array containing the residual (in pixels).

Returns

Homography matrix that describe the perspective transform between image and world plane.

EstimateHomography() [2/2]

Matrix oevislib_net.ComputerVision.Calibration.Calibration.EstimateHomography ( Array< Point2D > inSourcePoints, Array< Point2D > inDestinationPoints, Optional< CameraCalibrationModel > inCameraCalibrationModel, Optional< Array< float > > outResiduals = null )

inlinestatic

Compute the homography transformation between source points and destination points correspondence.

Parameters

inSourcePoints	Array containing points with coordinates expressed in the source reference frame.
inDestinationPoints	Array containing points with coordinates expressed in the destination reference frame.
inCameraCalibrationModel	Camera calibration model obtained during camera calibration.
outResiduals	Optional Array of Array containing the residual (in pixels).

Returns

Homography matrix that describe the perspective transform between source & destination points.

FindCalibrationPatterns() [1/2]

Array< Array< AnnotatedPoint2D > > oevislib_net.ComputerVision.Calibration.Calibration.FindCalibrationPatterns ( Array< Image > inImages, PatternFinderParams inPatternFinderParams, AbortCallback inAbortCallback )

inlinestatic

Extract calibration patterns from an array of images.

Parameters

inImages	Array of images containing different views of a calibration pattern.
inPatternFinderParams	Parameters related to the type of pattern used in the calibration image.
inAbortCallback	Callback function cyclically called during the calibration process to check if it needs to be stopped. The function should return true if the process should be aborted.

Returns

Array of AnnotatedPoint2D (i.e., an array for each view).

FindCalibrationPatterns() [2/2]

Array< AnnotatedPoint2D > oevislib_net.ComputerVision.Calibration.Calibration.FindCalibrationPatterns ( Image inImage, PatternFinderParams inPatternFinderParams, AbortCallback inAbortCallback )

inlinestatic

Extract calibration pattern from an image.

Parameters

inImage	The image containing the calibration pattern.
inPatternFinderParams	Parameters related to the type of pattern used in the calibration image.
inAbortCallback	Callback function cyclically called during the calibration process to check if it needs to be stopped. The function should return true if the process should be aborted.

Returns

Array<AnnotatedPoint2D> containing the extracted pattern.

TransformAlignment()

UCS2D oevislib_net.ComputerVision.Calibration.Transformations.TransformAlignment ( Point2D inPoint, float inAngle, CalibrationTransform inCalibrationTransform, bool inInverseY = false, bool inReverse = false )

inlinestatic

Returns the corresponding coordinate system for a given point, angle and calibration transform.

Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

Parameters

inPoint	Point.
inAngle	Angle.
inCalibrationTransform	Transformation to use.
inInverseY	Whether to consider the Y axis as going upwards, in a coordinate system with right-handed orientation (inverse respect to Image representation).
inReverse	Whether to invert the transform before applying it.

Returns

Resulting alignment.

TransformCoordinates()

Array< Point2D > oevislib_net.ComputerVision.Calibration.Transformations.TransformCoordinates ( Array< Point2D > inObjects, CalibrationTransform inCalibrationTransform, bool inReverse = false )

inlinestatic

Transform coordinates between Image and World frame of reference.

Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

Parameters

inObjects	Array of objects to be transformed.
inCalibrationTransform	Transformation to use.
inReverse	Whether to invert the transform before applying it.

Returns

Array of transformed objects.