dab_tracker_optical_calibration.h

/** \file dab_tracker_optical_calibration.h
*/

#pragma once

#include <iostream>
#include "ofxCVImage.h"
#include "dab_tracker_video_processor.h"

namespace dab
{
    
namespace tracker
{

class OpticalCalibration : public VideoProcessor
{
public:
	enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
	enum Mode { CALIBRATING, CALIBRATED };

    OpticalCalibration(ofxCvImage* pInputImage);
    ~OpticalCalibration();
    
    ofxCvImage* outputImage();
	Mode calibrationMode() const;
	std::array<float, 9> cameraMatrix() const;
	std::array<float, 8> distCoefficients() const;

	void startCalibration();
	void captureCalibationPattern();
	void setCameraMatrix(const std::array<float, 9>& pCameraMatrix);
	void setDistCoefficients(const std::array<float, 8>& pDistCoefficients);
    
    void setupGui(ofxDatGui* pGui);
	void update() throw (dab::Exception);
    void display() throw (dab::Exception);
    void saveSettings() throw (dab::Exception);
    void restoreSettings() throw (dab::Exception);
    
protected:
    static cv::Size sBoardSize;
    static Pattern sBoardPattern;
    static float sSquareSize;
    static Mode sCalibrationMode;
    static unsigned int sCalibrationFrameCount;
    static double sCaptureInterval;
    
    cv::Size mBoardSize; // The size of the board -> Number of items by width and height
    Pattern mBoardPattern; // One of the Chessboard, circles, or asymmetric circle pattern
    float mSquareSize; // The size of a square in your defined unit (point, millimeter,etc).
    
    Mode mCalibrationMode;
    

    float mAspectRatio;
    float mCaptureInterval;
    double mPreviousCaptureTime;
	bool mCapturePatternNow;
    bool mCalibZeroTangentDist; // Assume zero tangential distortion
    bool mCalibFixPrincipalPoint;// Fix the principal point at the center
    bool mFlipVertical;          // Flip the captured images around the horizontal axis
    int mFlag;

    ofxCvImage* mInputImage;
    ofxCvImage* mOutputImage;
    std::array<int, 2> mFrameSize;
    
    std::vector< std::vector<cv::Point2f> > mImagePoints;
    unsigned int mCalibrationFrameCount;
    cv::Mat mCameraMatrix;
    cv::Mat mDistCoeffs;
	std::vector<cv::Mat> mCameraRotations;
	std::vector<cv::Mat> mCameraTranslations;
    
    bool detectCalibrationPattern(cv::Mat& pInputImage, std::vector<cv::Point2f>& pPatternPoints);
    bool runCalibration();
    void calcBoardCornerPositions(vector<cv::Point3f>& pCorners);
    double computeReprojectionErrors(const vector<vector<cv::Point3f> >& cvObjectPoints,const std::vector<cv::Mat>& pRvecs, const std::vector<cv::Mat>& pTvecs, std::vector<float>& pPerViewErrors);
    
    // gui
    ofxDatGuiFolder* mGuiFolder;
    ofxDatGuiTextInput* mBoardSizeXControl;
    ofxDatGuiTextInput* mBoardSizeYControl;
    ofxDatGuiTextInput* mSquareSizeControl;
    ofxDatGuiDropdown* mBoardPatternControl;
    ofxDatGuiTextInput* mCalibrationFrameCountControl;
    ofxDatGuiTextInput* mCaptureIntervalControl;
    ofxDatGuiTextInput* mAspectRatioControl;
    ofxDatGuiToggle* mFlipVerticalControl;
    ofxDatGuiButton* mStartCalibrationControl;
	ofxDatGuiToggle* mCapturePatternNowControl;
    
    void onTextInputEvent(ofxDatGuiTextInputEvent e);
    void onDropdownEvent(ofxDatGuiDropdownEvent e);
    void onButtonEvent(ofxDatGuiButtonEvent e);
};

};

};