camcalib_data.h

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#ifndef VRCORE_CAMCALIB_DATA
#define VRCORE_CAMCALIB_DATA

namespace cv
{
typedef Matx<double, 8, 1> Matx81d;
}

namespace vr
{

const cv::Size noSize{0, 0};
const cv::Rect noRect{0, 0, 0, 0};
const cv::Matx81d noDistortionCoeffs{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};

struct CameraCalibData{
    cv::Matx33d cameraMatrix;
    cv::Matx81d distortionCoeffs;
    cv::Size imageSize; // Photo
    cv::Size videoSize; // Video
    cv::Matx33d getCameraMatrix(
        const cv::Size& scaledSize = noSize,
        const cv::Rect& clipping = noRect,
        const bool letterboxed = false) const;
};

// cx = 543.64534750988003
// cy = 424.99674926231330
//
// Obacht!!!
// Wahrscheinlich beziehen sich diese Daten auf ein auf 1113 x 628 skaliertes
// Zwischenbild (vgl. rev 0 dieser Datei und frühere Versionen von
// MeasuringHead::undistortImage() im https://hg.visureal.eu:8552/hg/vrcore/
// Repository). cx und cy weichen auch stark von der Mitte ab.
static const CameraCalibData calib_iPad_2_rearCam_zoom4x = {
    {
        3.7894127152414831e+003, 0., 5.4364534750988003e+002,
        0., 3.8160421503625466e+003, 4.2499674926231330e+002,
        0., 0., 1.
    },
    {
        4.7886813122787544e+000, 7.1672755112535427e+001,
        1.9312141282855966e-001, -1.7426126324367353e-002,
        -2.3716394862029779e+003
    },
    {960, 720},
    {1280, 720}
};

/*
calibration_time: "Sa 03 Okt 2015 03:35:00 CEST"
nframes: 20
image_width: 960
image_height: 720
board_width: 8
board_height: 6
square_size: 30.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.1666278513269360e+03, 0., 4.9573534693659877e+02, 0.,
       1.1580356770394480e+03, 3.4477456794217534e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ -6.1308260595379940e+00, -5.0247887425017836e+01,
       8.6735748913811204e-05, 4.7342681038781376e-04,
       3.1176279158212014e+02, -6.0511993354263591e+00,
       -5.1306296677890487e+01, 3.1528251356174894e+02, 0., 0., 0., 0. ]
avg_reprojection_error: 5.5602541679290773e-01
per_view_reprojection_errors: !!opencv-matrix
   rows: 20
   cols: 1
   dt: f
   data: [ 4.73575532e-01, 6.39105201e-01, 4.75118548e-01,
       5.32871962e-01, 6.24507308e-01, 5.47239482e-01, 6.19755983e-01,
       4.26893324e-01, 5.34244955e-01, 5.20598650e-01, 4.72686082e-01,
       5.51671624e-01, 6.31343126e-01, 9.74626243e-01, 4.92901325e-01,
       4.57406729e-01, 3.32555860e-01, 4.66269553e-01, 6.11197174e-01,
       4.45656717e-01 ]
*/
static const CameraCalibData calib_iPad_2_rearCam = {
    {
        1.1666278513269360e+03, 0., 4.9573534693659877e+02,
        0., 1.1580356770394480e+03, 3.4477456794217534e+02,
        0., 0., 1.
    },
    {
        -6.1308260595379940e+00, -5.0247887425017836e+01,
         8.6735748913811204e-05,  4.7342681038781376e-04,
         3.1176279158212014e+02, -6.0511993354263591e+00,
        -5.1306296677890487e+01,  3.1528251356174894e+02
    },
    {960, 720},
    {1280, 720}
};

// Alles mm
const double approxdist = 250.0;
const double f3 = 4.28;
const double fA = 3.3;
const double pixelSize = 0.00175;
const double f_3 =  (1.0 / (1.0 / f3 - 1.0 / approxdist)) / pixelSize;
const double f_A =  (1.0 / (1.0 / fA - 1.0 / approxdist)) / pixelSize;
// TODO: synthetisch!
static const CameraCalibData calib_iPad_3_rearCam = {
    {
        f_3, 0., 2591 * 0.5,
        0., f_3, 1935 * 0.5,
        0., 0., 1.
    },
    {   // von calib_iPad_2_rearCam
        -6.1308260595379940e+00, -5.0247887425017836e+01,
         8.6735748913811204e-05,  4.7342681038781376e-04,
         3.1176279158212014e+02, -6.0511993354263591e+00,
        -5.1306296677890487e+01,  3.1528251356174894e+02
    },
    {2592, 1936},
    {1920, 1080}
};
// TODO: synthetisch!
static const CameraCalibData calib_iPad_Air_rearCam = {
    {
        f_A, 0., 2591 * 0.5,
        0., f_A, 1935 * 0.5,
        0., 0., 1.
    },
    {   // von calib_iPad_2_rearCam
        -6.1308260595379940e+00, -5.0247887425017836e+01,
         8.6735748913811204e-05,  4.7342681038781376e-04,
         3.1176279158212014e+02, -6.0511993354263591e+00,
        -5.1306296677890487e+01,  3.1528251356174894e+02
    },
    {2592, 1936},
    {1920, 1080}
};

/*
calibration_time: "Sa 26 Sep 2015 04:37:56 CEST"
nframes: 45
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.2595451544568041e+03, 0., 1.4345459116403201e+03, 0.,
       9.5754714965878557e+03, 1.0578714277919958e+03, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 5.3560790994798939e+00, 2.3068059804111670e+02,
       5.6245809696731541e-02, 1.0654538258853928e-01,
       -1.3237953124032669e+04 ]
avg_reprojection_error: 3.5653432190464054e+00
*/
static const CameraCalibData calib_iPad_3_rearCam_zoom4x = {
    {
        9.2595451544568041e+03, 0., 1.4345459116403201e+03,
        0., 9.5754714965878557e+03, 1.0578714277919958e+03,
        0., 0., 1.
    },
    {
        5.3560790994798939e+00, 2.3068059804111670e+02,
        5.6245809696731541e-02, 1.0654538258853928e-01,
        -1.3237953124032669e+04
    },
    {2592, 1936},
    {1920, 1080}
};

/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 11 -h 7 -s 15 -su -r180 -o iPad_3_rear_zoom4x-rot180.yml -oe iPad_3_rear_zoom4x_imagelist.xml
calibration_time: "Fr 09 Okt 2015 00:31:36 CEST"
nframes: 45
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.8685045537678816e+03, 0., 1.3224031459369317e+03, 0.,
       1.0426871878584370e+04, 9.8384405365999976e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 9.7035842468746285e+00, -2.0240372351113992e+03,
       1.5084206798289397e-02, 2.5390312245979037e-02,
       -2.0978931329088013e+04, 3.8267967008418822e+00,
       -2.3907054934578578e+03, 2.1536535456318426e+04, 0., 0., 0., 0. ]
avg_reprojection_error: 5.6078094860742986e+00
*/
static const CameraCalibData calib_iPad_3_rearCam_zoom4x_rot180 = {
    {
        9.8685045537678816e+03, 0., 1.3224031459369317e+03,
        0., 1.0426871878584370e+04, 9.8384405365999976e+02,
        0., 0., 1.
    },
    {
        9.7035842468746285e+00, -2.0240372351113992e+03,
        1.5084206798289397e-02,  2.5390312245979037e-02,
       -2.0978931329088013e+04,  3.8267967008418822e+00,
       -2.3907054934578578e+03,  2.1536535456318426e+04
    },
    {2592, 1936},
    {1920, 1080}
};

/*
%YAML:1.0
calibration_time: "Di 01 Mär 2016 09:29:57 CET"
nframes: 42
image_width: 1296
image_height: 968
board_width: 11
board_height: 7
square_size: 15.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.9460365421521146e+03, 0., 6.4750000000000000e+02, 0.,
       4.9460365421521146e+03, 4.8350000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 5.7239511412908701e+00, 3.5567711297498403e+02,
       -5.4996068923167541e-03, 1.4118273073931320e-02,
       -2.4918485718166841e+04 ]
avg_reprojection_error: 1.9451644708827676e+00
*/

static const CameraCalibData calib_iPad_3_rearCam_zoom4x_fixed_small = {
    {
        4.9460365421521146e+03, 0., 6.4750000000000000e+02,
        0., 4.9460365421521146e+03, 4.8350000000000000e+02,
        0., 0., 1.
    },
    {
        5.7239511412908701e+00, 3.5567711297498403e+02,
       -5.4996068923167541e-03, 1.4118273073931320e-02,
       -2.4918485718166841e+04
    },
    {1296, 968},
    {1920, 1080}
};

/*
%YAML:1.0
calibration_time: "Di 01 Mär 2016 09:48:24 CET"
nframes: 45
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.8022514418767842e+03, 0., 1.2955000000000000e+03, 0.,
       9.8022514418767842e+03, 9.6750000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 5.7961817437643077e+00, 3.2153758645291367e+02,
       -4.3648335712944009e-03, 1.2748327435237777e-02,
       -2.2764965618405120e+04 ]
avg_reprojection_error: 3.7827563471596637e+00
*/
static const CameraCalibData calib_iPad_3_rearCam_zoom4x_fixed = {
    {
        9.8022514418767842e+03, 0., 1.2955000000000000e+03,
        0., 9.8022514418767842e+03, 9.6750000000000000e+02,
        0., 0., 1.
    },
    {
        5.7961817437643077e+00, 3.2153758645291367e+02,
       -4.3648335712944009e-03, 1.2748327435237777e-02,
       -2.2764965618405120e+04
    },
    {2592, 1936},
    {1920, 1080}
};

/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 11 -h 7 -s 15 -su -o iPad_4_rear_zoom4x.yml -oe iPad_4_rear_zoom4x_imagelist.xml
calibration_time: "Mi 07 Okt 2015 16:28:07 CEST"
nframes: 46
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.5042900268119101e+03, 0., 1.3686897347437935e+03, 0.,
       9.5555840716770854e+03, 9.6000130812219732e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ -1.2032517239108715e+01, -3.1000447260435731e+03,
       1.8389167709105078e-02, 6.6884962318512639e-02,
       -4.8859201276784916e+03, -2.1666246178588121e+01,
       -2.6528100980657478e+03, 5.1475145075507080e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 3.0560719812201818e+00
*/
static const CameraCalibData calib_iPad_4_rearCam_zoom4x = {
    {
        9.5042900268119101e+03, 0., 1.3686897347437935e+03,
        0., 9.5555840716770854e+03, 9.6000130812219732e+02,
        0., 0., 1.
    },
    {
        -1.2032517239108715e+01, -3.1000447260435731e+03,
         1.8389167709105078e-02,  6.6884962318512639e-02,
        -4.8859201276784916e+03, -2.1666246178588121e+01,
        -2.6528100980657478e+03,  5.1475145075507080e+03
    },
    {2592, 1936},
    {1920, 1080}
};
/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 11 -h 7 -s 15 -su -o iPad_4_rear_zoom4x-rot180.yml -oe iPad_4_rear_zoom4x_imagelist.xml
calibration_time: "Do 08 Okt 2015 23:16:03 CEST"
nframes: 46
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.0169592429473709e+04, 0., 1.2723005153067686e+03, 0.,
       1.0591180815723745e+04, 9.9616943203795938e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ -2.8923786212150873e+01, -3.7479089071539574e+03,
       -3.8131102006118802e-03, -1.2930037678332975e-02,
       -3.7209825598768675e+03, -3.9863899767272102e+01,
       -2.9812569882632238e+03, 3.2532711992772670e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 4.7927178430980177e+00
*/
static const CameraCalibData calib_iPad_4_rearCam_zoom4x_rot180 = {
    {
        1.0169592429473709e+04, 0., 1.2723005153067686e+03,
        0., 1.0591180815723745e+04, 9.9616943203795938e+02,
        0., 0., 1.
    },
    {
        -2.8923786212150873e+01, -3.7479089071539574e+03,
        -3.8131102006118802e-03, -1.2930037678332975e-02,
        -3.7209825598768675e+03, -3.9863899767272102e+01,
        -2.9812569882632238e+03,  3.2532711992772670e+03
    },
    {2592, 1936},
    {1920, 1080}
};

/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 13 -h 9 -s 20 -su -o iPad_4_front_landscape.yml -oe iPad_4_front_landscape_imagelist.xml
calibration_time: "Mi 07 Okt 2015 22:16:01 CEST"
nframes: 46
image_width: 1280
image_height: 960
board_width: 13
board_height: 9
square_size: 20.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.2468750149255566e+03, 0., 6.4908604310039141e+02, 0.,
       1.2451201921576749e+03, 4.7997189256904863e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 3.5682706398788291e+01, -1.1698429601543776e+02,
       1.1170857258377136e-03, -9.7012290245197547e-04,
       6.8010249081800907e+02, 3.5951491402223425e+01,
       -1.1967412895144355e+02, 6.9307526465437149e+02, 0., 0., 0., 0. ]
avg_reprojection_error: 2.2313818119042667e-01
*/
static const CameraCalibData calib_iPad_4_frontCam_landscape = {
    {
        1.2468750149255566e+03, 0., 6.4908604310039141e+02,
        0., 1.2451201921576749e+03, 4.7997189256904863e+02,
        0., 0., 1.
    },
    {
        3.5682706398788291e+01, -1.1698429601543776e+02,
        1.1170857258377136e-03, -9.7012290245197547e-04,
        6.8010249081800907e+02,  3.5951491402223425e+01,
       -1.1967412895144355e+02,  6.9307526465437149e+02
    },
    {1280, 960},
    {1280, 720}
};

// vario inset
// Calibration data iPad 4 FaceTime HD camera

// cx = 477.00449552966205
// cy = 646.69950530065023
static const CameraCalibData calib_iPad_4_frontCam_portrait = {
    {
        1.2483748520357178e+03, 0., 4.7700449552966205e+02,
        0., 1.2467598850866611e+03, 6.4669950530065023e+02,
        0., 0., 1.
    },
    {
        -3.9201825078858825e-02, 4.0674431484054674e-01,
        -2.4554224032551160e-03, -1.7658977908004223e-03,
        -1.4846440061519319e+00
    },
    {960, 1280},
    {720, 1280}
};
/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 11 -h 7 -s 15 -su -o iPad_Air_rear_zoom4x.yml -oe iPad_Air_rear_zoom4x_imagelist.xml
calibration_time: "Mo 28 Sep 2015 23:41:05 CEST"
nframes: 24
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.0116499409813559e+04, 0., 1.5746979808517026e+03, 0.,
       1.0681894820973139e+04, 9.3679857087799519e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 3.6908355060486349e+00, -3.6085037425530192e+02,
       -1.5774941246848532e-02, 2.9520031045756423e-01,
       6.0629027462754129e+03, -8.6368868926878477e+00,
       1.7997373386203080e+02, -7.2229743844353552e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 5.9523558292218217e+00
*/
static const CameraCalibData calib_iPad_Air_rearCam_zoom4x = {
    {
        1.0116499409813559e+04, 0., 1.5746979808517026e+03,
        0., 1.0681894820973139e+04, 9.3679857087799519e+02,
        0., 0., 1.
    },
    {
        3.6908355060486349e+00, -3.6085037425530192e+02,
        -1.5774941246848532e-02, 2.9520031045756423e-01,
        6.0629027462754129e+03, -8.6368868926878477e+00,
        1.7997373386203080e+02, -7.2229743844353552e+03
    },
    {2592, 1936},
    {1920, 1080}
};
/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 11 -h 7 -s 15 -su -r180 -o iPad_Air_rear_zoom4x-rot180.yml -oe iPad_Air_rear_zoom4x_imagelist.xml
calibration_time: "Do 08 Okt 2015 23:39:50 CEST"
nframes: 24
image_width: 2592
image_height: 1936
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.3305682439286702e+03, 0., 1.1198385260329981e+03, 0.,
       9.4328036138233547e+03, 6.4279002473646540e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 2.4492194912067196e+00, -4.7728438578564052e+01,
       -2.8773737182838416e-01, -1.7749503123461377e-01,
       -2.4122102644903121e+03, -4.1220420534431952e+00,
       -1.8208432766568393e+02, 5.3680938186016811e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 3.1160171212729919e+00
*/
static const CameraCalibData calib_iPad_Air_rearCam_zoom4x_rot180 = {
    {
        9.3305682439286702e+03, 0., 1.1198385260329981e+03,
        0., 9.4328036138233547e+03, 6.4279002473646540e+02,
        0., 0., 1.
    },
    {
         2.4492194912067196e+00, -4.7728438578564052e+01,
        -2.8773737182838416e-01, -1.7749503123461377e-01,
        -2.4122102644903121e+03, -4.1220420534431952e+00,
        -1.8208432766568393e+02,  5.3680938186016811e+03
    },
    {2592, 1936},
    {1920, 1080}
};

/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 13 -h 9 -s 20 -su -o iPad_Air_front_landscape.yml -oe iPad_Air_front_imagelist.xml
calibration_time: "Mi 07 Okt 2015 16:34:02 CEST"
nframes: 52
image_width: 1280
image_height: 960
board_width: 13
board_height: 9
square_size: 20.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.1689702692589599e+03, 0., 6.3184738163529823e+02, 0.,
       1.1680229211851376e+03, 4.7392325852903485e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 1.7058281331501217e+01, -7.3691225259331745e+01,
       -1.7222950678405082e-04, -8.3282277761684287e-04,
       4.6691301210467270e+02, 1.7193845987498683e+01,
       -7.5441669888443428e+01, 4.7494681210907652e+02, 0., 0., 0., 0. ]
avg_reprojection_error: 1.6552941110945515e-01
*/
static const CameraCalibData calib_iPad_Air_frontCam_landscape = {
    {
        1.1689702692589599e+03, 0., 6.3184738163529823e+02,
        0., 1.1680229211851376e+03, 4.7392325852903485e+02,
        0., 0., 1.
    },
    {
        1.7058281331501217e+01, -7.3691225259331745e+01,
       -1.7222950678405082e-04, -8.3282277761684287e-04,
        4.6691301210467270e+02,  1.7193845987498683e+01,
       -7.5441669888443428e+01,  4.7494681210907652e+02
    },
    {1280, 960},
    {1280, 720}
};

/*
../opencv-3.0.0/build/bin/cpp-example-calibration -w 13 -h 9 -s 20 -su -o iPad_Air_front_portrait.yml -oe iPad_Air_front_imagelist.xml
calibration_time: "Mi 07 Okt 2015 17:19:35 CEST"
nframes: 51
image_width: 960
image_height: 1280
board_width: 13
board_height: 9
square_size: 20.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.1680304763923468e+03, 0., 4.8513196323943106e+02, 0.,
       1.1689427983169521e+03, 6.3171919352291047e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 1.7317817953296760e+01, -7.5687945762069646e+01,
       -8.4804403571975815e-04, 1.6204945021162760e-04,
       4.7221830316448927e+02, 1.7454588643176358e+01,
       -7.7454129753329738e+01, 4.8029235531578450e+02, 0., 0., 0., 0. ]
avg_reprojection_error: 1.6581672547378193e-01
*/

// Diesselben Bilder wie calib_iPad_Air_frontCam_landscape, aber um 90° im
// Uhrzeigersinn gedreht, also Hochformat wie für die vario inset-Aufnahmen.
// Dabei werden fx <-> fy sowie cx <-> cy vertauscht, außerdem ändern sich die
// tangentialen Verzerrungskoeffizienten offenbar gemäß (p: portrait,
// l: landscape):
//      p1(p) <->  p2(l)
//      p2(p) <-> -p1(l)
// Mathematisch noch zu überprüfen.
static const CameraCalibData calib_iPad_Air_frontCam_portrait = {
    {
       1.1680304763923468e+03, 0., 4.8513196323943106e+02,
       0., 1.1689427983169521e+03, 6.3171919352291047e+02,
       0., 0., 1.
    },
    {
        1.7317817953296760e+01, -7.5687945762069646e+01,
       -8.4804403571975815e-04,  1.6204945021162760e-04,
        4.7221830316448927e+02,  1.7454588643176358e+01,
       -7.7454129753329738e+01,  4.8029235531578450e+02
    },
    {960, 1280},
    {720, 1280}
};

// cx = 910.61374890803233
// cy = 1311.6034753748663
// Zoomfaktor = 2.35
static const CameraCalibData calib_iPad_mini_3_rearCam_x2_35 = {
    {
        5.6028700468379966e+03, 0., 9.1061374890803233e+02,
        0., 5.5940743788821637e+03, 1.3116034753748663e+03,
        0., 0., 1.
    },
    {   -2.2075448994311495e-01, 5.9878817296941174e+00,
         1.5048342251242698e-04, 2.6981175730256957e-04,
        -3.6988157649993227e+01
    },
    {1936, 2592},
    {1080, 1920}
};
/*
calibration_time: "So 26 Jul 2015 23:21:11 CEST"
nframes: 21
image_width: 736
image_height: 992
board_width: 7
board_height: 11
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 2.3582190931716591e+03, 0., 3.3380389355527933e+02, 0.,
       2.3523709685953509e+03, 4.0753526579501010e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 4.5439879320237248e-01, -1.1921038438520792e+01,
       -9.3079619022046079e-03, -2.3115936289204463e-02,
       1.2278377253122122e+02 ]
avg_reprojection_error: 5.2954487958372598e-01
 */
// Kalibrationsdaten beziehen sich auf den Ausschnitt
// cv::Rect(600, 800, 736, 992) des Originalbilds!
static const CameraCalibData calib_iPad_mini_3_rearCam_nozoom = {
    {
        2.3582190931716591e+03, 0., 3.3380389355527933e+02,
        0., 2.3523709685953509e+03, 4.0753526579501010e+02,
        0., 0., 1.
    },
    {
         4.5439879320237248e-01, -1.1921038438520792e+01,
        -9.3079619022046079e-03, -2.3115936289204463e-02,
         1.2278377253122122e+02
    },
    {736, 992},
    {1080, 1920}
};

// fixed principal point -
// Keine erkennbaren Vorteile, minimal größerer Reprojektionsfehler.
// Kalibrationsdaten beziehen sich auf den Ausschnitt
// cv::Rect(600, 800, 736, 992) des Originalbilds!
static const CameraCalibData calib_iPad_mini_3_rearCam_nozoom_fixedpp = {
    {
        2.3577662647005759e+03, 0., 3.6750000000000000e+02,
        0., 2.3521934054392336e+03, 4.9550000000000000e+02,
        0., 0., 1.
    },
    {
        5.2877710151812574e-01, -1.9793797743454540e+01,
        8.3774379031104056e-03, -1.8526619946233582e-02,
        2.7792649278247893e+02
    },
    {736, 992},
    {1080, 1920}
};

/*
%YAML:1.0
calibration_time: "Di 26 Jan 2016 01:26:57 CET"
nframes: 58
image_width: 2448
image_height: 3264
board_width: 6
board_height: 9
square_size: 10.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.0387709754707341e+04, 0., 1.1762352006212288e+03, 0.,
       1.0425164156530476e+04, 1.7160395454621357e+03, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 5.8821035255325694e+02, -3.0162504245138830e+03,
       4.3681894923031043e-03, -1.3438127106211353e-03,
       1.6348631870473655e+03, 5.7367394027014166e+02,
       -2.6579062176832476e+03, -1.6499556827711961e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 1.1284129533535332e+00
*/
static const CameraCalibData calib_iPad_mini_4_rearCam_x3_7 = {
    {
        1.0387709754707341e+04, 0., 1.1762352006212288e+03,
        0., 1.0425164156530476e+04, 1.7160395454621357e+03,
        0., 0., 1.
    },
    {
       5.8821035255325694e+02, -3.0162504245138830e+03,
       4.3681894923031043e-03, -1.3438127106211353e-03,
       1.6348631870473655e+03, 5.7367394027014166e+02,
       -2.6579062176832476e+03, -1.6499556827711961e+03    },
    {2448, 3264},
    {1080, 1920}
};

/*
%YAML:1.0
calibration_time: "Mo 14 Dez 2015 07:52:45 CET"
nframes: 35
image_width: 2448
image_height: 3264
board_width: 11
board_height: 7
square_size: 15.
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1.2549150420466220e+04, 0., 1.0908356273440502e+03, 0.,
       1.2380558370046379e+04, 1.8789283245574488e+03, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 12
   cols: 1
   dt: d
   data: [ 8.2904183322390281e+02, 5.0432913469372971e+02,
       1.7058076662340289e-02, -6.6032114069397635e-03,
       8.6720254645264849e+03, 8.1774601053200934e+02,
       9.3605507948984814e+02, -8.7696738844559241e+03, 0., 0., 0., 0. ]
avg_reprojection_error: 2.5191235622743511e+00
*/
static const CameraCalibData calib_iPad_mini_4_rearCam_x4_2 = {
    {
        1.2549150420466220e+04, 0., 1.0908356273440502e+03,
        0., 1.2380558370046379e+04, 1.8789283245574488e+03,
        0., 0., 1.
    },
    {
        8.2904183322390281e+02, 5.0432913469372971e+02,
        1.7058076662340289e-02, -6.6032114069397635e-03,
        8.6720254645264849e+03, 8.1774601053200934e+02,
        9.3605507948984814e+02, -8.7696738844559241e+03    },
    {2448, 3264},
    {0, 0}
};

/*
%YAML:1.0
calibration_time: "Mi 02 Mär 2016 12:12:20 CET"
nframes: 36
image_width: 756
image_height: 460
board_width: 9
board_height: 6
square_size: 10.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.8193595615580034e+03, 0., 3.7750000000000000e+02, 0.,
       4.8193595615580034e+03, 2.2950000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 4.7528484352091818e+00, 3.0518115907084007e+02,
       -2.2325818785215994e-02, -4.4496544968155097e-03,
       -1.0868220106559160e+02 ]
avg_reprojection_error: 1.2934955258722738e-01
*/
static const CameraCalibData calib_iPad_2_rearCam_zoom4x_app_fixed = {
    {
       4.8193595615580034e+03, 0., 3.7750000000000000e+02,
       0., 4.8193595615580034e+03, 2.2950000000000000e+02,
       0., 0., 1.
    },
    {
        4.7528484352091818e+00,  3.0518115907084007e+02,
       -2.2325818785215994e-02, -4.4496544968155097e-03,
       -1.0868220106559160e+02
    },
    {756, 460},
    {0, 0}
};

/*
%YAML:1.0
calibration_time: "Mi 02 Mär 2016 09:54:45 CET"
nframes: 23
image_width: 756
image_height: 460
board_width: 9
board_height: 6
square_size: 10.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.8651049501569305e+03, 0., 3.7750000000000000e+02, 0.,
       4.8651049501569305e+03, 2.2950000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 5.4690661102420250e+00, 2.1104709915479322e+02,
       -2.5941341463122526e-02, -2.5713792285843844e-03,
       -2.5659714974242019e+02 ]
avg_reprojection_error: 1.0723026385050025e-01
*/
static const CameraCalibData calib_iPad_3_rearCam_zoom4x_app_fixed = {
    {
        4.8651049501569305e+03, 0., 3.7750000000000000e+02,
        0., 4.8651049501569305e+03, 2.2950000000000000e+02,
        0., 0., 1.
    },
    {
        5.4690661102420250e+00,  2.1104709915479322e+02,
       -2.5941341463122526e-02, -2.5713792285843844e-03,
       -2.5659714974242019e+02
    },
    {756, 460},
    {0, 0}
};

/*
%YAML:1.0
calibration_time: "Mi 02 Mär 2016 11:58:56 CET"
nframes: 15
image_width: 756
image_height: 460
board_width: 9
board_height: 6
square_size: 10.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.8631864086178330e+03, 0., 3.7750000000000000e+02, 0.,
       4.8631864086178330e+03, 2.2950000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 7.2822369265859974e+00, 4.0311011348947872e+01,
       -3.7334029256838673e-02, -5.5806023213158832e-03,
       4.2580621132781571e-01 ]
avg_reprojection_error: 1.0990147359693271e-01
*/
static const CameraCalibData calib_iPad_4_rearCam_zoom4x_app_fixed = {
    {
        4.8631864086178330e+03, 0., 3.7750000000000000e+02,
        0., 4.8631864086178330e+03, 2.2950000000000000e+02,
        0., 0., 1.
    },
    {
        7.2822369265859974e+00, 4.0311011348947872e+01,
       -3.7334029256838673e-02, -5.5806023213158832e-03,
        4.2580621132781571e-01
    },
    {756, 460},
    {0, 0}
};

/*
%YAML:1.0
calibration_time: "Mi 02 Mär 2016 09:50:25 CET"
nframes: 25
image_width: 756
image_height: 460
board_width: 9
board_height: 6
square_size: 10.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.7028871986809436e+03, 0., 3.7750000000000000e+02, 0.,
       4.7028871986809436e+03, 2.2950000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 3.7912880303805010e+00, 3.9573011397160417e+02,
       -1.2549608703483301e-02, -9.7242820869163499e-03,
       -9.4248798175403280e+01 ]
avg_reprojection_error: 1.3749507488360149e-01
*/
static const CameraCalibData calib_iPad_Air_rearCam_zoom4x_app_fixed = {
    {
        4.7028871986809436e+03, 0., 3.7750000000000000e+02,
        0., 4.7028871986809436e+03, 2.2950000000000000e+02,
        0., 0., 1.
    },
    {
        3.7912880303805010e+00,  3.9573011397160417e+02,
       -1.2549608703483301e-02, -9.7242820869163499e-03,
       -9.4248798175403280e+01
    },
    {756, 460},
    {0, 0}
};

/*
%YAML:1.0
calibration_time: "Mi 02 Mär 2016 12:17:56 CET"
nframes: 14
image_width: 756
image_height: 460
board_width: 9
board_height: 6
square_size: 10.
aspectRatio: 1.
flags: 6
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 4.6617494614137358e+03, 0., 3.7750000000000000e+02, 0.,
       4.6617494614137358e+03, 2.2950000000000000e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 3.2849503218305780e+00, 4.1265859264366600e+02,
       -5.4896493161305810e-03, -1.8512749056537825e-02,
       -2.9265287250068519e+02 ]
avg_reprojection_error: 1.3479625144047097e-01
*/
static const CameraCalibData calib_iPad_Air_2_rearCam_zoom4x_app_fixed = {
    {
        4.6617494614137358e+03, 0., 3.7750000000000000e+02,
        0., 4.6617494614137358e+03, 2.2950000000000000e+02,
        0., 0., 1.
    },
    {
        3.2849503218305780e+00,  4.1265859264366600e+02,
       -5.4896493161305810e-03, -1.8512749056537825e-02,
       -2.9265287250068519e+02
    },
    {756, 460},
    {0, 0}
};



inline CameraCalibData getZoomedCalibData(const CameraCalibData& src,
    const double zoom, const cv::Size dstSize)
{
    CameraCalibData dst;
    const cv::Matx33d& cm = src.cameraMatrix;
    double fx = cm(0, 0) * zoom;
    double fy = cm(1, 1) * zoom;
    double cx = (dstSize.width  - 1) * 0.5 + (cm(0, 2) - (src.imageSize.width  - 1) * 0.5) * zoom;
    double cy = (dstSize.height - 1) * 0.5 + (cm(1, 2) - (src.imageSize.height - 1) * 0.5) * zoom;
    dst.cameraMatrix =
    {
        fx, 0., cx,
        0., fy, cy,
        0., 0., 1.
    };
    dst.distortionCoeffs = src.distortionCoeffs;
    dst.imageSize = dstSize;
    return dst;
}

static const CameraCalibData calib_iPad_mini_3_rearCam_x3_2 = getZoomedCalibData(calib_iPad_mini_3_rearCam_nozoom, 3.2, cv::Size(1936, 2592));
static const CameraCalibData calib_iPad_mini_3_rearCam_x4_2 = getZoomedCalibData(calib_iPad_mini_3_rearCam_nozoom, 4.2, cv::Size(1936, 2592));

bool getCameraMatrix(const ExposureArrangement exposureArrangement,
    cv::Matx33d& cameraMatrix,
    const bool profile = false);

bool getDistortionCoefficients(const ExposureArrangement exposureArrangement,
    cv::OutputArray distortionCoeffs);

bool getIntrinsicCameraParameters(const ExposureArrangement exposureArrangement,
    cv::Matx33d& cameraMatrix,
    cv::OutputArray distortionCoeffs,
    const bool profile = false);

bool undistort(const ExposureArrangement exposureArrangement,
    const cv::Mat& src, cv::Mat& dst,
    const bool profile = false,
    cv::InputArray newCameraMatrix = cv::noArray());

cv::Size getScaledSize(const ExposureArrangement exposureArrangement);

}

#endif // VRCORE_CAMCALIB_DATA