Camera calibration structure used for camera calibration tasks. More...

#include <CameraCalibration.h>

Data Structures
struct	GradientDescentParameters
	Parameter struct for gradient descent. More...

struct	LabColor
	Structure to store Lab color values. More...

Public Member Functions
	CameraCalibration (helios::Context *context)

std::vector< uint >	addCheckerboard (const helios::int2 &boardsidesize, const float &patchsize, const helios::vec3 &centrelocation, const helios::vec3 &rotationrad, bool firstblack=true)
	Add checker board geometry into context.

std::vector< uint >	addDefaultCheckerboard (const helios::vec3 &centrelocation, const helios::vec3 &rotationrad)
	Add default checker board geometry into context.

std::vector< uint >	addColorboard (const helios::vec3 &centrelocation, float patchsize, const helios::vec3 &rotationrad, const std::vector< std::vector< helios::RGBcolor > > &colorassignment={}, const std::vector< std::vector< std::string > > &spectrumassignment={})
	Add color board geometry into context.

std::vector< uint >	addColorboard (const helios::vec3 &centrelocation, float patchsize, const helios::vec3 &rotationrad, const std::vector< std::vector< helios::RGBcolor > > &colorassignment, const std::vector< std::vector< std::string > > &spectrumassignment, const std::string &colorboard_type)
	Add color board geometry into context with colorboard type labeling.

std::vector< uint >	addDefaultColorboard (const helios::vec3 &centrelocation, float patchsize=0.5, const helios::vec3 &rotationrad=helios::make_vec3(0, 0, 0))
	Add default color board (DGK-DKK) with spectral reflectivity values.

std::vector< uint >	addDGKColorboard (const helios::vec3 &centrelocation, float patchsize=0.5, const helios::vec3 &rotationrad=helios::make_vec3(0, 0, 0))
	Add DGK-DKK calibration color board.

std::vector< uint >	addCalibriteColorboard (const helios::vec3 &centrelocation, float patchsize=0.5, const helios::vec3 &rotationrad=helios::make_vec3(0, 0, 0))
	Add Calibrite ColorChecker Classic calibration color board.

std::vector< uint >	addSpyderCHECKRColorboard (const helios::vec3 &centrelocation, float patchsize=0.5, const helios::vec3 &rotationrad=helios::make_vec3(0, 0, 0))
	Add Datacolor SpyderCHECKR 24 calibration color board.

std::vector< uint >	getColorBoardUUIDs ()
	Retrieves a list of color board UUIDs.

bool	writeSpectralXMLfile (const std::string &filename, const std::string &note, const std::string &label, std::vector< helios::vec2 > *spectrum)
	Write XML file from spectral vectors containing both wavelengths and spectral values.

bool	loadXMLlabeldata (const std::string &filename, const std::string &labelname, std::vector< helios::vec2 > &spectraldata)
	Load XML file and save data in spectral vectors containing both wavelengths and spectral values.

float	GradientDescent (std::vector< std::vector< float > > *expandedcameraspectra, const std::vector< std::vector< float > > &expandedconstinput, const float &learningrate, const std::vector< std::vector< float > > &truevalues)
	Reduce calibration error based on gradient descent.

std::vector< float >	updateCameraResponseSpectra (const std::vector< std::string > &camerareponselabels, const std::string &cameralabel, const std::map< uint, std::vector< helios::vec2 > > &simulatedinputspectra, const std::vector< std::vector< float > > &truevalues)
	Update camera response spectra.

void	preprocessSpectra (const std::vector< std::string > &sourcelabels, const std::vector< std::string > &cameralabels, std::vector< std::string > &objectlabels, helios::vec2 &wavelengthrange, const std::string &targetlabel="")
	Preprocess all spectra for modelling.

void	distortImage (const std::string &cameralabel, const std::vector< std::string > &bandlabels, const helios::vec2 &focalxy, std::vector< double > &distCoeffs, helios::int2 cameraresolution)
	Get distorted image.

float	getCameraResponseScale (const std::string &cameralabel, const helios::int2 cameraresolution, const std::vector< std::string > &bandlabels, const std::vector< std::vector< float > > &truevalues)
	Get camera spectral response scale.

std::vector< uint >	readROMCCanopy ()
	Read ROMC canopy file (Used for self test).

void	writeCalibratedCameraResponses (const std::vector< std::string > &camerareponselabels, const std::string &calibratemark, float scale)
	Write calibrated camera response spectra.

std::string	detectColorBoardType () const
	Detect which colorboard type is present in the scene.

std::vector< LabColor >	getReferenceLab_DGK () const
	Get reference Lab values for DGK colorboard (18 patches)

std::vector< LabColor >	getReferenceLab_Calibrite () const
	Get reference Lab values for Calibrite ColorChecker Classic (24 patches)

std::vector< LabColor >	getReferenceLab_SpyderCHECKR () const
	Get reference Lab values for Datacolor SpyderCHECKR 24 (24 patches)

LabColor	rgbToLab (const helios::vec3 &rgb) const
	Convert RGB color to Lab color space (RGB as vec3 [0,1])

helios::vec3	labToRgb (const LabColor &lab) const
	Convert Lab color to RGB color space (returns vec3 [0,1])

double	deltaE76 (const LabColor &lab1, const LabColor &lab2) const
	Calculate Delta E 76 (CIE76) color difference between two Lab colors.

double	deltaE2000 (const LabColor &lab1, const LabColor &lab2) const
	Calculate Delta E 2000 color difference between two Lab colors (more perceptually accurate)

Data Fields
GradientDescentParameters	responseupdateparameters

std::map< std::string, std::map< std::string, std::vector< helios::vec2 > > >	processedspectra

Detailed Description

Camera calibration structure used for camera calibration tasks.

Definition at line 21 of file CameraCalibration.h.

Constructor & Destructor Documentation

◆ CameraCalibration()

CameraCalibration::CameraCalibration ( helios::Context * context )

explicit

Definition at line 20 of file CameraCalibration.cpp.

Member Function Documentation

◆ addCalibriteColorboard()

std::vector< uint > CameraCalibration::addCalibriteColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize = `0.5`,
		const helios::vec3 &	rotationrad = `helios::make_vec3(0, 0, 0)`
	)

Add Calibrite ColorChecker Classic calibration color board.

Parameters

[in]	centrelocation	Location of the board (vec3 on coordinates x,y,z)
[in]	patchsize	Size of each color patch in color board
[in]	rotationrad	Radians of rotation (vec3 on coordinates x,y,z)

Returns: A vector of UUIDs making up the color board patches

Definition at line 219 of file CameraCalibration.cpp.

◆ addCheckerboard()

std::vector< uint > CameraCalibration::addCheckerboard	(	const helios::int2 &	boardsidesize,
		const float &	patchsize,
		const helios::vec3 &	centrelocation,
		const helios::vec3 &	rotationrad,
		bool	firstblack = `true`
	)

Add checker board geometry into context.

Parameters

[in]	boardsidesize	size of check board
[in]	patchsize	size of each square patch
[in]	centrelocation	location of the board (vec3 on coordinates x,y,z)
[in]	rotationrad	radians of rotation (vec3 on coordinates x,y,z)
[in]	firstblack	initial the color of first square patch (black or white)

Definition at line 23 of file CameraCalibration.cpp.

◆ addColorboard() [1/2]

std::vector< uint > CameraCalibration::addColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize,
		const helios::vec3 &	rotationrad,
		const std::vector< std::vector< helios::RGBcolor > > &	colorassignment,
		const std::vector< std::vector< std::string > > &	spectrumassignment,
		const std::string &	colorboard_type
	)

Add color board geometry into context with colorboard type labeling.

Parameters

[in]	centrelocation	location of the board center (vec3 on coordinates x,y,z)
[in]	patchsize	size of each square color patch on the board
[in]	rotationrad	rotation the board about x-, y-, and z-axes
[in]	colorassignment	Color of each patch and size of color board. First index is the row and second index is the column.
[in]	spectrumassignment	Label of global data corresponding to the reflectance spectrum of each color patch on the color board. First index is the row and second index is the column.
[in]	colorboard_type	String identifier for the colorboard type (e.g., "DGK", "Calibrite", "SpyderCHECKR")

Definition at line 140 of file CameraCalibration.cpp.

◆ addColorboard() [2/2]

std::vector< uint > CameraCalibration::addColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize,
		const helios::vec3 &	rotationrad,
		const std::vector< std::vector< helios::RGBcolor > > &	colorassignment = `{}`,
		const std::vector< std::vector< std::string > > &	spectrumassignment = `{}`
	)

Add color board geometry into context.

Parameters

[in]	centrelocation	location of the board center (vec3 on coordinates x,y,z)
[in]	patchsize	size of each square color patch on the board
[in]	rotationrad	rotation the board about x-, y-, and z-axes
[in]	colorassignment	[OPTIONAL] Color of each patch and size of color board. First index is the row and second index is the column.
[in]	spectrumassignment	[OPTIONAL] Label of global data corresponding to the reflectance spectrum of each color patch on the color board. First index is the row and second index is the column.

Definition at line 81 of file CameraCalibration.cpp.

◆ addDefaultCheckerboard()

std::vector< uint > CameraCalibration::addDefaultCheckerboard	(	const helios::vec3 &	centrelocation,
		const helios::vec3 &	rotationrad
	)

Add default checker board geometry into context.

Parameters

[in]	centrelocation	location of the board (vec3 on coordinates x,y,z)
[in]	rotationrad	radians of rotation (vec3 on coordinates x,y,z)

Definition at line 73 of file CameraCalibration.cpp.

◆ addDefaultColorboard()

std::vector< uint > CameraCalibration::addDefaultColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize = `0.5`,
		const helios::vec3 &	rotationrad = `helios::make_vec3(0, 0, 0)`
	)

Add default color board (DGK-DKK) with spectral reflectivity values.

Parameters

[in]	centrelocation	Location of the board (vec3 on coordinates x,y,z)
[in]	patchsize	Size of each color patch in color board
[in]	rotationrad	Radians of rotation (vec3 on coordinates x,y,z)

Returns: A vector of UUIDs making up the color board patches

Definition at line 200 of file CameraCalibration.cpp.

◆ addDGKColorboard()

std::vector< uint > CameraCalibration::addDGKColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize = `0.5`,
		const helios::vec3 &	rotationrad = `helios::make_vec3(0, 0, 0)`
	)

Add DGK-DKK calibration color board.

Parameters

[in]	centrelocation	Location of the board (vec3 on coordinates x,y,z)
[in]	patchsize	Size of each color patch in color board
[in]	rotationrad	Radians of rotation (vec3 on coordinates x,y,z)

Returns: A vector of UUIDs making up the color board patches

Definition at line 205 of file CameraCalibration.cpp.

◆ addSpyderCHECKRColorboard()

std::vector< uint > CameraCalibration::addSpyderCHECKRColorboard	(	const helios::vec3 &	centrelocation,
		float	patchsize = `0.5`,
		const helios::vec3 &	rotationrad = `helios::make_vec3(0, 0, 0)`
	)

Add Datacolor SpyderCHECKR 24 calibration color board.

Parameters

[in]	centrelocation	Location of the board (vec3 on coordinates x,y,z)
[in]	patchsize	Size of each color patch in color board
[in]	rotationrad	Radians of rotation (vec3 on coordinates x,y,z)

Returns: A vector of UUIDs making up the color board patches

Definition at line 233 of file CameraCalibration.cpp.

◆ deltaE2000()

double CameraCalibration::deltaE2000	(	const LabColor &	lab1,
		const LabColor &	lab2
	)		const

Calculate Delta E 2000 color difference between two Lab colors (more perceptually accurate)

Definition at line 988 of file CameraCalibration.cpp.

◆ deltaE76()

double CameraCalibration::deltaE76	(	const LabColor &	lab1,
		const LabColor &	lab2
	)		const

Calculate Delta E 76 (CIE76) color difference between two Lab colors.

Definition at line 979 of file CameraCalibration.cpp.

◆ detectColorBoardType()

std::string CameraCalibration::detectColorBoardType ( ) const

Detect which colorboard type is present in the scene.

Definition at line 832 of file CameraCalibration.cpp.

◆ distortImage()

void CameraCalibration::distortImage	(	const std::string &	cameralabel,
		const std::vector< std::string > &	bandlabels,
		const helios::vec2 &	focalxy,
		std::vector< double > &	distCoeffs,
		helios::int2	cameraresolution
	)

Get distorted image.

Parameters

[in]	cameralabel	Label of camera.
[in]	bandlabels	Label vector of bands.
[in]	focalxy	Focal length xy of camera.
[in]	distCoeffs	Distortion coefficients.
[in]	cameraresolution	Resolution of camera.
[in]	cameraresolution	Resolution of camera for distortion.

Definition at line 455 of file CameraCalibration.cpp.

◆ getCameraResponseScale()

float CameraCalibration::getCameraResponseScale	(	const std::string &	cameralabel,
		const helios::int2	cameraresolution,
		const std::vector< std::string > &	bandlabels,
		const std::vector< std::vector< float > > &	truevalues
	)

Get camera spectral response scale.

Parameters

[in]	cameralabel	Label of camera.
[in]	cameraresolution	Resolution of camera.
[in]	bandlabels	Label vector of bands.
[in]	truevalues	True color board values.

Definition at line 670 of file CameraCalibration.cpp.

◆ getColorBoardUUIDs()

std::vector< uint > CameraCalibration::getColorBoardUUIDs ( )

Retrieves a list of color board UUIDs.

Returns: A vector containing the UUIDs of color boards.

Definition at line 247 of file CameraCalibration.cpp.

◆ getReferenceLab_Calibrite()

std::vector< CameraCalibration::LabColor > CameraCalibration::getReferenceLab_Calibrite ( ) const

Get reference Lab values for Calibrite ColorChecker Classic (24 patches)

Definition at line 770 of file CameraCalibration.cpp.

◆ getReferenceLab_DGK()

std::vector< CameraCalibration::LabColor > CameraCalibration::getReferenceLab_DGK ( ) const

Get reference Lab values for DGK colorboard (18 patches)

Definition at line 744 of file CameraCalibration.cpp.

◆ getReferenceLab_SpyderCHECKR()

std::vector< CameraCalibration::LabColor > CameraCalibration::getReferenceLab_SpyderCHECKR ( ) const

Get reference Lab values for Datacolor SpyderCHECKR 24 (24 patches)

Definition at line 801 of file CameraCalibration.cpp.

◆ GradientDescent()

float CameraCalibration::GradientDescent	(	std::vector< std::vector< float > > *	expandedcameraspectra,
		const std::vector< std::vector< float > > &	expandedconstinput,
		const float &	learningrate,
		const std::vector< std::vector< float > > &	truevalues
	)

Reduce calibration error based on gradient descent.

Parameters

[in]	expandedcameraspectra	Expanded camera response spectra to be updated.
[in]	expandedconstinput	Expanded input spectra.
[in]	learningrate	Learning rate.
[in]	truevalues	True color board values.

Returns: A float of loss.

Definition at line 299 of file CameraCalibration.cpp.

◆ labToRgb()

helios::vec3 CameraCalibration::labToRgb ( const LabColor & lab ) const

Convert Lab color to RGB color space (returns vec3 [0,1])

Definition at line 933 of file CameraCalibration.cpp.

◆ loadXMLlabeldata()

bool CameraCalibration::loadXMLlabeldata	(	const std::string &	filename,
		const std::string &	labelname,
		std::vector< helios::vec2 > &	spectraldata
	)

Load XML file and save data in spectral vectors containing both wavelengths and spectral values.

Parameters

[in]	filename	Name with path of XML file
[in]	labelname	Label name of data
[in]	spectraldata	An empty spectral vector to be filled

Definition at line 285 of file CameraCalibration.cpp.

◆ preprocessSpectra()

void CameraCalibration::preprocessSpectra	(	const std::vector< std::string > &	sourcelabels,
		const std::vector< std::string > &	cameralabels,
		std::vector< std::string > &	objectlabels,
		helios::vec2 &	wavelengthrange,
		const std::string &	targetlabel = `""`
	)

Preprocess all spectra for modelling.

Parameters

[in]	sourcelabels	Label vector of source spectra.
[in]	cameralabels	Label vector of camera spectra.
[in]	objectlabels	Label vector of object spectra.
[in,out]	wavelengthrange	Min and max of wavelength boundary.
[in]	targetlabel	Label of target spectrum used for interpolation.

Definition at line 546 of file CameraCalibration.cpp.

◆ readROMCCanopy()

std::vector< uint > CameraCalibration::readROMCCanopy ( )

Read ROMC canopy file (Used for self test).

Returns: A vector of ROMC canopy UUIDs.

Definition at line 709 of file CameraCalibration.cpp.

◆ rgbToLab()

CameraCalibration::LabColor CameraCalibration::rgbToLab ( const helios::vec3 & rgb ) const

Convert RGB color to Lab color space (RGB as vec3 [0,1])

Definition at line 895 of file CameraCalibration.cpp.

◆ updateCameraResponseSpectra()

std::vector< float > CameraCalibration::updateCameraResponseSpectra	(	const std::vector< std::string > &	camerareponselabels,
		const std::string &	cameralabel,
		const std::map< uint, std::vector< helios::vec2 > > &	simulatedinputspectra,
		const std::vector< std::vector< float > > &	truevalues
	)

Update camera response spectra.

Parameters

[in]	camerareponselabels	Label vector of camera response spectra to be updated.
[in]	cameralabel	Label of camera to be used for simulation.
[in]	simulatedinputspectra	Input spectra.
[in]	truevalues	True color board values.

Returns: A vector of training losses.

Definition at line 372 of file CameraCalibration.cpp.

◆ writeCalibratedCameraResponses()

void CameraCalibration::writeCalibratedCameraResponses	(	const std::vector< std::string > &	camerareponselabels,
		const std::string &	calibratemark,
		float	scale
	)

Write calibrated camera response spectra.

Parameters

[in]	camerareponselabels	Label vector of original camera response spectra to be written.
[in]	calibratemark	Calibration mark.
[in]	scale	Manually adjustable Scaling factor for calibrated camera response spectra.

Definition at line 441 of file CameraCalibration.cpp.

◆ writeSpectralXMLfile()

bool CameraCalibration::writeSpectralXMLfile	(	const std::string &	filename,
		const std::string &	note,
		const std::string &	label,
		std::vector< helios::vec2 > *	spectrum
	)

Write XML file from spectral vectors containing both wavelengths and spectral values.

Parameters

[in]	filename	Name with path of XML file
[in]	note	Note to write in XML file
[in]	label	Label of spectral data to write in XML file
[in]	spectrum	Pointer of spectrum to write in XML file

Definition at line 251 of file CameraCalibration.cpp.

Field Documentation

◆ processedspectra

std::map<std::string, std::map<std::string, std::vector<helios::vec2> > > CameraCalibration::processedspectra

Definition at line 195 of file CameraCalibration.h.

◆ responseupdateparameters

GradientDescentParameters CameraCalibration::responseupdateparameters

Definition at line 163 of file CameraCalibration.h.

The documentation for this struct was generated from the following files:

plugins/radiation/include/CameraCalibration.h
plugins/radiation/src/CameraCalibration.cpp

Data Structures

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ CameraCalibration()

Member Function Documentation

◆ addCalibriteColorboard()

◆ addCheckerboard()

◆ addColorboard() [1/2]

◆ addColorboard() [2/2]

◆ addDefaultCheckerboard()

◆ addDefaultColorboard()

◆ addDGKColorboard()

◆ addSpyderCHECKRColorboard()

◆ deltaE2000()

◆ deltaE76()

◆ detectColorBoardType()

◆ distortImage()

◆ getCameraResponseScale()

◆ getColorBoardUUIDs()

◆ getReferenceLab_Calibrite()

◆ getReferenceLab_DGK()

◆ getReferenceLab_SpyderCHECKR()

◆ GradientDescent()

◆ labToRgb()

◆ loadXMLlabeldata()

◆ preprocessSpectra()

◆ readROMCCanopy()

◆ rgbToLab()

◆ updateCameraResponseSpectra()

◆ writeCalibratedCameraResponses()

◆ writeSpectralXMLfile()

Field Documentation

◆ processedspectra

◆ responseupdateparameters