#include <Calibration.h>

Public Member Functions
	CameraCalibration ()

	CameraCalibration (double fx, double fy, double cx, double cy, double d0, double d1, double d2, double d3, int width=-1, int height=-1)

Eigen::Matrix3d	getCameraMatrix () const

Eigen::Matrix2d	getPixelCovariance () const

bool	isValid () const

void	rescale (int width, int height)
	rescale the calibration to a different image size More...

void	toFrame (base::samples::frame::Frame &frame) const
	write the calibration into the attributes of the frame More...

Static Public Member Functions
static CameraCalibration	fromFrame (const base::samples::frame::Frame &frame)
	create a calibration struct based on the information embedded in the frame More...

Public Attributes
double	fx

double	fy

double	cx

double	cy

double	d0

double	d1

double	d2

double	d3

int	width

int	height

double	ex

double	ey

bool	fisheye

Detailed Description

Calibration parameters expressing the camera matrix and the coefficients for the lens distortion. See: http://opencv.willowgarage.com/documentation/camera_calibration_and_3d_reconstruction.html for a description of the values and the model that is used.

Constructor & Destructor Documentation

◆ CameraCalibration() [1/2]

CameraCalibration::CameraCalibration ( )

◆ CameraCalibration() [2/2]

CameraCalibration::CameraCalibration	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	d0,
		double	d1,
		double	d2,
		double	d3,
		int	width = `-1`,
		int	height = `-1`
	)

Member Function Documentation

◆ fromFrame()

CameraCalibration CameraCalibration::fromFrame ( const base::samples::frame::Frame & frame )

static

create a calibration struct based on the information embedded in the frame

this function will throw if the calibration parameters are not embedded as attributes in the frame

◆ getCameraMatrix()

Eigen::Matrix3d CameraCalibration::getCameraMatrix ( ) const

Returns: the 3x3 camera matrix, which converts scene points into screen points

◆ getPixelCovariance()

Eigen::Matrix2d CameraCalibration::getPixelCovariance ( ) const

Returns: the 2x2 covariance matrix of the pixel reprojection error

◆ isValid()

bool CameraCalibration::isValid ( ) const

Returns: true if the calibration values are set

◆ rescale()

void CameraCalibration::rescale	(	int	width,
		int	height
	)

rescale the calibration to a different image size

Use this function if you have a calibration for a particular resolution, and you have changed the resolution of the image. Useful for e.g. downscaled images with lower resolution.