tsai3d.h

这是著名的Tsai摄像机内外参数标定的源码

/**************************
* Calibration	TSAI3D		  *
*													*
* Marcelo Gattass					*
* Manuel E. L. Fernandez	*
* Jul06,2006							*
**************************/
#ifndef __TSAI3D_H 
#define __TSAI3D_H

#if	defined(__cplusplus)
extern "C" {
#endif

#include <stdio.h>
#include <math.h>
#include <malloc.h>

// This library implemented a simplified "C" version of 
// Levenberg-Marquardt method for Nonlinear optimization 
#include "cminpack.h"
#include "matrix.h"

// Define names of camera parameters knew to different camera models
// - cameras
#define PHOTOMETRICS_STAR_I			0
#define GENERAL_IMAGING_MOS5300 1
#define PANASONIC_GP_MF702			2
#define SONY_XC75								3
#define SONY_XC77								4
#define SONY_XC57								5
// - webcams
#define CREATIVE_WEBCAM_NX_PRO			6
#define LOGITECH_QUICKCAM_PRO_4000	7
// - standard and own cameras
#define PINHOLE_CAMERA					8
#define NEW_CAMERA							9

/**************************************************************************\
* Camera parameters are usually the fixed parameters of the given camera 	*
* system, typically obtained from manufacturers specifications.						*
*																																					*
* Cy and Cy (the center of radial lens distortion), may be calibrated			*
* separately or as part of the coplanar/non-coplanar calibration.					*
* The same with sx (x scale uncertainty factor).													*
\*************************************************************************/
struct tsai_camera_parameters {
	double    Ncx;	/* [sel]     Number of sensor elements in camera's x direction */
	double    Nfx;	/* [pix]     Number of pixels in frame grabber's x direction   */
	double    dx;		/* [mm/sel]  X dimension of camera's sensor element (in mm)    */
	double    dy;		/* [mm/sel]  Y dimension of camera's sensor element (in mm)    */
	double    dpx;	/* [mm/pix]  Effective X dimension of pixel in frame grabber   */
	double    dpy;	/* [mm/pix]  Effective Y dimension of pixel in frame grabber   */
	double    Cx;		/* [pix]     Z axis intercept of camera coordinate system      */
	double    Cy;		/* [pix]     Z axis intercept of camera coordinate system      */
	double    sx;		/* []        Scale factor to compensate for any error in dpx   */
	
	int is_load_paremeters; /*      flag to indicate that all parameters have been loaded  */
};

/*******************************************************************************\
* Calibration data consists of the (x,y,z) world coordinates of a feature				*
* point	(in mm) and the corresponding coordinates (Xf,Yf) (in pixels) of the		*
* feature point in the image.  Point count is the number of points in the data	*
* set.																																					*
*																																								*
* Coplanar calibration:																													*
*																																								*
* For coplanar calibration the z world coordinate of the data must be zero.			*
* In addition, for numerical stability the coordinates of the feature points		*
* should be placed at some arbitrary distance from the origin (0,0,0) of the		*
* world coordinate system.  Finally, the plane containing the feature points		*
* should not be parallel to the imaging plane.  A relative angle of 30 degrees	*
* is recommended.																																*
*																																								*
* Non-coplanar calibration:																											*
*																																								*
* For non - coplanar calibration the data must not lie in a single plane.					*
*																																								*
\*******************************************************************************/
struct tsai_calibration_data {
	int      point_count;	/* [points] 	 */
	double    *xw;				/* [mm]        */
	double    *yw;				/* [mm]        */
	double    *zw;				/* [mm]        */
	double    *Xf;				/* [pix]       */
	double    *Yf;				/* [pix]       */
};

/*********************************************************\
* Calibration constants are the model constants that are	* 
* determined from the calibration data.										*
\*********************************************************/
struct tsai_calibration_constants 
{
	double    f;		/* [mm]          */
	double    kappa1;		/* [1/mm^2]      */
	double    p1;		/* [1/mm]        */
	double    p2;		/* [1/mm]        */
	double    Tx;		/* [mm]          */
	double    Ty;		/* [mm]          */
	double    Tz;		/* [mm]          */
	double    Rx;		/* [rad]	 */
	double    Ry;		/* [rad]	 */
	double    Rz;		/* [rad]	 */
	double    r1;		/* []            */
	double    r2;		/* []            */
	double    r3;		/* []            */
	double    r4;		/* []            */
	double    r5;		/* []            */
	double    r6;		/* []            */
	double    r7;		/* []            */
	double    r8;		/* []            */
	double    r9;		/* []            */
	
	int is_load_constants; /*      flag to indicate that all parameters have been loaded  */
};

/*******************************************\
* Calibration funtions											*
\*******************************************/
/************************************************************************/
/**
* Initialization of camera parameters.
* @param[in] CameraModel     ID to some camera models of which we know your camera parameters.
* @param[in] Ncx - [sel]     Number of sensor elements in camera's x direction.
* @param[in] Nfx - [pix]     Number of pixels in frame grabber's x direction.
* @param[in] dx - [mm/sel]  X dimension of camera's sensor element (in mm).
* @param[in] dy - [mm/sel]  Y dimension of camera's sensor element (in mm).
* @param[in] Cx - [pix]     Z axis intercept of camera coordinate system.
* @param[in] Cy - [pix]     Z axis intercept of camera coordinate system.
* @param[in] sx - []        Scale factor to compensate for any error in dpx.
* @param[out] cp - struct to store camera parameters and depend on model of camera 
*									 defined, if you needed can define your own camera parameters.
*									 .
*/
void   tsai3D_define_camera_parameters(int CameraModel, 
																			double Ncx,	double Nfx,
																			double dx,   double dy,
																			double Cx,	double Cy, double sx,
																			struct tsai_camera_parameters *cp);

/**
* Get calibration camera using Tsai Non-coplanar method.
* @param[in] numberPoints - Number of points used to get camera calibration.
* @param[in] modelPoints  - World coordinates of pattern markers used to calibrate the camera.
* @param[in] imagePoints  - Image coordinates of pattern markers used to calibrate the camera.
* @param[in] cp - struct to store camera parameters and depend on model of camera 
*									 defined, if you needed can define your own camera parameters.
* @param[out] A - Matrix of Intrinsic parameters. 
* @param[out] K - Matrix of Extrinsic parameters. 
* @param[out] distortion - value of first component of radial distortion k1. 
*/
int  tsai3D_calibration(  int numberPoints, double* modelPoints, double* imagePoints,
													double *A, double *K, double *distortion, 
													struct tsai_camera_parameters *cp,
													struct tsai_calibration_constants *cc);

#if defined(__cplusplus)
}
#endif

#endif  /* __tsai3D_H */

/* tsai3D.H */