Package boofcv.io.calibration

Class CalibrationIO

java.lang.Object

boofcv.io.calibration.CalibrationIO

public class CalibrationIO
extends Object

Functions for loading and saving camera calibration related data structures from/to disk

Field Summary

Fields

Modifier and Type	Field	Description
static String	MODEL_BROWN
static String	MODEL_KANNALA_BRANDT
static String	MODEL_MONO_PLANE
static String	MODEL_MULT_CAMERA
static String	MODEL_OMNIDIRECTIONAL_UNIVERSAL
static String	MODEL_PINHOLE
static String	MODEL_RIGID_BODY
static String	MODEL_STEREO
static String	MODEL_VISUAL_DEPTH
static String	VERSION

Constructor Summary

Constructors

Constructor	Description
CalibrationIO()

Method Summary

Modifier and Type	Method	Description
static org.yaml.snakeyaml.Yaml	createYmlObject()
static <T> T	load(@Nullable URL path)
static <T> T	load(File path)
static <T> T	load(Reader reader)	Loads intrinsic parameters from disk
static <T> T	load(String path)
static <T> T	load(Map<String,Object> data)
static double[]	loadCoefficients(Map<String,Object> map, String name)
static CalibrationObservation	loadLandmarksCsv(InputStream input)	Reads in a CSV that encodes CalibrationObservation.
static CameraPinholeBrown	loadOpenCV(Reader reader)	Loads intrinsic parameters in OpenCV format.
static CameraPinholeBrown	loadOpenCV(String path)
static CameraPinholeBrown	loadOpenCV(URL path)
static void	loadPinhole(Map<String,Object> map, CameraPinhole parameters)
static Se3_F64	loadSe3(Map<String,Object> map, @Nullable Se3_F64 transform)
static Map<String,Object>	putKannalaBrandt(CameraKannalaBrandt parameters, @Nullable Map<String,Object> map)
static Map<String,Object>	putModel(CameraModel parameters, @Nullable Map<String,Object> map)
static Map<String,Object>	putModelBrown(CameraPinholeBrown parameters, @Nullable Map<String,Object> map)
static Map<String,Object>	putModelPinhole(CameraPinhole parameters, @Nullable Map<String,Object> map)
static Map<String,Object>	putModelUniversalOmni(CameraUniversalOmni parameters, @Nullable Map<String,Object> map)
static Map<String,Object>	putParamsPinhole(CameraPinhole parameters)
static Map<String,Object>	putParamsRadialTangent(CameraPinholeBrown parameters)
static Map<String,Object>	putSe3(Se3_F64 transform)
static void	save(MonoPlaneParameters parameters, Writer outputWriter)
static void	save(MultiCameraCalibParams parameters, Writer outputWriter)	Saves MultiCameraCalibParams to disk
static void	save(MultiCameraCalibParams parameters, String outputPath)
static void	save(StereoParameters parameters, File filePath)
static void	save(StereoParameters parameters, Writer outputWriter)	Saves stereo camera model to disk
static void	save(StereoParameters parameters, String outputPath)
static void	save(VisualDepthParameters parameters, File filePath)
static void	save(VisualDepthParameters parameters, Writer outputWriter)
static void	save(VisualDepthParameters parameters, String outputPath)
static void	save(Se3_F64 rigidBody, File filePath)
static void	save(Se3_F64 rigidBody, Writer outputWriter)
static void	save(Se3_F64 rigidBody, String outputPath)
static <T extends CameraModel> void	save(T parameters, File filePath)
static <T extends CameraModel> void	save(T parameters, Writer outputWriter)	Saves intrinsic camera model to disk
static <T extends CameraModel> void	save(T parameters, String filePath)
static void	saveLandmarksCsv(String inputFile, String detector, CalibrationObservation landmarks, File outputFile)
static void	saveLandmarksCsv(String inputFile, String detector, CalibrationObservation landmarks, OutputStream outputStream)	Saves detected landmarks from calibration in a CSV file format
static void	saveOpencv(CameraPinholeBrown intrinsics, Writer outputWriter)	Saves the calibration in OpenCV yaml format.
static void	saveOpencv(CameraPinholeBrown intrinsics, String path)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

MODEL_PINHOLE

public static String MODEL_PINHOLE

MODEL_BROWN

public static String MODEL_BROWN

MODEL_OMNIDIRECTIONAL_UNIVERSAL

public static String MODEL_OMNIDIRECTIONAL_UNIVERSAL

MODEL_KANNALA_BRANDT

public static String MODEL_KANNALA_BRANDT

MODEL_STEREO

public static String MODEL_STEREO

MODEL_MULT_CAMERA

public static String MODEL_MULT_CAMERA

MODEL_RIGID_BODY

public static String MODEL_RIGID_BODY

MODEL_VISUAL_DEPTH

public static String MODEL_VISUAL_DEPTH

MODEL_MONO_PLANE

public static String MODEL_MONO_PLANE

VERSION

public static String VERSION

Constructor Details

CalibrationIO

public CalibrationIO()

Method Details

save

public static <T extends CameraModel> void save(T parameters,
 Writer outputWriter)

Saves intrinsic camera model to disk

Parameters:

parameters - Camera parameters

outputWriter - Path to where it should be saved

save

public static <T extends CameraModel> void save(T parameters,
 String filePath)

save

public static <T extends CameraModel> void save(T parameters,
 File filePath)

createYmlObject

public static org.yaml.snakeyaml.Yaml createYmlObject()

save

public static void save(StereoParameters parameters,
 Writer outputWriter)

Saves stereo camera model to disk

Parameters:

parameters - Camera parameters

outputWriter - Stream to save the parameters to

save

public static void save(StereoParameters parameters,
 String outputPath)

save

public static void save(MultiCameraCalibParams parameters,
 Writer outputWriter)

Saves MultiCameraCalibParams to disk

Parameters:

parameters - Camera system parameters

outputWriter - Stream to save to

save

public static void save(MultiCameraCalibParams parameters,
 String outputPath)

save

public static void save(StereoParameters parameters,
 File filePath)

save

public static void save(Se3_F64 rigidBody,
 File filePath)

save

public static void save(Se3_F64 rigidBody,
 String outputPath)

save

public static void save(Se3_F64 rigidBody,
 Writer outputWriter)

save

public static void save(VisualDepthParameters parameters,
 File filePath)

save

public static void save(VisualDepthParameters parameters,
 String outputPath)

save

public static void save(VisualDepthParameters parameters,
 Writer outputWriter)

save

public static void save(MonoPlaneParameters parameters,
 Writer outputWriter)

load

public static <T> T load(@Nullable
 @Nullable URL path)

load

public static <T> T load(File path)

load

public static <T> T load(String path)

load

public static <T> T load(Reader reader)

Loads intrinsic parameters from disk

Parameters:

reader - Reader

Returns:

Camera model

load

public static <T> T load(Map<String,Object> data)
                  throws IOException

Throws:

IOException

putModel

public static Map<String,Object> putModel(CameraModel parameters,
 @Nullable
 @Nullable Map<String,Object> map)

putModelPinhole

public static Map<String,Object> putModelPinhole(CameraPinhole parameters,
 @Nullable
 @Nullable Map<String,Object> map)

putModelBrown

public static Map<String,Object> putModelBrown(CameraPinholeBrown parameters,
 @Nullable
 @Nullable Map<String,Object> map)

putModelUniversalOmni

public static Map<String,Object> putModelUniversalOmni(CameraUniversalOmni parameters,
 @Nullable
 @Nullable Map<String,Object> map)

putKannalaBrandt

public static Map<String,Object> putKannalaBrandt(CameraKannalaBrandt parameters,
 @Nullable
 @Nullable Map<String,Object> map)

putParamsPinhole

public static Map<String,Object> putParamsPinhole(CameraPinhole parameters)

putParamsRadialTangent

public static Map<String,Object> putParamsRadialTangent(CameraPinholeBrown parameters)

putSe3

public static Map<String,Object> putSe3(Se3_F64 transform)

loadPinhole

public static void loadPinhole(Map<String,Object> map,
 CameraPinhole parameters)

loadCoefficients

public static double[] loadCoefficients(Map<String,Object> map,
 String name)

loadSe3

public static Se3_F64 loadSe3(Map<String,Object> map,
 @Nullable
 @Nullable Se3_F64 transform)

saveLandmarksCsv

public static void saveLandmarksCsv(String inputFile,
 String detector,
 CalibrationObservation landmarks,
 File outputFile)

saveLandmarksCsv

public static void saveLandmarksCsv(String inputFile,
 String detector,
 CalibrationObservation landmarks,
 OutputStream outputStream)

Saves detected landmarks from calibration in a CSV file format

Parameters:

inputFile - (Input) path to input image

detector - (Input) description of the detector

landmarks - (Input) detected landmarks

outputStream - (Output) where results are writetn to

loadLandmarksCsv

public static CalibrationObservation loadLandmarksCsv(InputStream input)

Reads in a CSV that encodes CalibrationObservation.

Parameters:

input - The input stream containing the CSV file

Returns:

decoded observations

saveOpencv

public static void saveOpencv(CameraPinholeBrown intrinsics,
 String path)

saveOpencv

public static void saveOpencv(CameraPinholeBrown intrinsics,
 Writer outputWriter)

Saves the calibration in OpenCV yaml format.

Parameters:

intrinsics - (Input) Calibration that's to be saved

outputWriter - (Output) where to save it to

loadOpenCV

public static CameraPinholeBrown loadOpenCV(String path)

loadOpenCV

public static CameraPinholeBrown loadOpenCV(URL path)

loadOpenCV

public static CameraPinholeBrown loadOpenCV(Reader reader)

Loads intrinsic parameters in OpenCV format.