CameraCalibration.hpp

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#ifndef CAMERA_CALIB_HPP
#define CAMERA_CALIB_HPP
 
#include <opencv2/core/mat.hpp>
#include <opencv2/calib3d.hpp>
 
 
namespace galaxis {
  namespace camera {
    // mtx
    cv::Mat const matrixD_mtx = (cv::Mat1d(3, 3) << 4.1762556576818139e+02, 0, 2.5803041199757405e+02, 0, 4.1789334832209283e+02, 8.3395313510144476e+01, 0, 0, 1);
    // dist
    cv::Mat const matrixK_dist = (cv::Mat1d(1, 5) << -4.1009180456714284e-01, 2.4282612421196481e-01, -5.4943175865065086e-03, 2.2892992455263131e-03, -1.0344846386273387e-01);
 
  // distort (inverse of undistortion)
  //   public PointF Distort(PointF point)
  // {
  //   // To relative coordinates <- this is the step you are missing.
  //   double x = (point.X - cx) / fx;
  //   double y = (point.Y - cy) / fy;
 
  //   double r2 = x*x + y*y;
 
  //   // Radial distorsion
  //   double xDistort = x * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
  //   double yDistort = y * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
 
  //   // Tangential distorsion
  //   xDistort = xDistort + (2 * p1 * x * y + p2 * (r2 + 2 * x * x));
  //   yDistort = yDistort + (p1 * (r2 + 2 * y * y) + 2 * p2 * x * y);
 
  //   // Back to absolute coordinates.
  //   xDistort = xDistort * fx + cx;
  //   yDistort = yDistort * fy + cy;
 
  //   return new PointF((float)xDistort, (float)yDistort);
  // } 
 
 
 
    cv::Mat getOptimalCameraMatrix();
    cv::Mat getPerspectiveTransform();
  } // namespace camera
 
} // namespace galaxis
 
#endif // CAMERA_CALIB_HPP