#include <Calibration.h>
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| | CameraCalibration () |
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| | CameraCalibration (double fx, double fy, double cx, double cy, double d0, double d1, double d2, double d3, int width=-1, int height=-1) |
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| Eigen::Matrix3d | getCameraMatrix () const |
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| Eigen::Matrix2d | getPixelCovariance () const |
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| bool | isValid () const |
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| void | rescale (int width, int height) |
| | rescale the calibration to a different image size More...
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| void | toFrame (base::samples::frame::Frame &frame) const |
| | write the calibration into the attributes of the frame More...
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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.
| CameraCalibration::CameraCalibration |
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| ) |
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| CameraCalibration::CameraCalibration |
( |
double |
fx, |
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double |
fy, |
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double |
cx, |
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double |
cy, |
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double |
d0, |
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double |
d1, |
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double |
d2, |
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double |
d3, |
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int |
width = -1, |
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int |
height = -1 |
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) |
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| CameraCalibration CameraCalibration::fromFrame |
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const base::samples::frame::Frame & |
frame | ) |
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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
| Eigen::Matrix3d CameraCalibration::getCameraMatrix |
( |
| ) |
const |
- Returns
- the 3x3 camera matrix, which converts scene points into screen points
| Eigen::Matrix2d CameraCalibration::getPixelCovariance |
( |
| ) |
const |
- Returns
- the 2x2 covariance matrix of the pixel reprojection error
| bool CameraCalibration::isValid |
( |
| ) |
const |
- Returns
- true if the calibration values are set
| void CameraCalibration::rescale |
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int |
width, |
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int |
height |
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) |
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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.
- Note
- this function will not maintain the aspect ratio, you have to do this yourselves.
| void CameraCalibration::toFrame |
( |
base::samples::frame::Frame & |
frame | ) |
const |
write the calibration into the attributes of the frame
will throw if the size of the calibration does not match the size of the frame
| double frame_helper::CameraCalibration::cx |
optical center in x and y direction
| double frame_helper::CameraCalibration::cy |
| double frame_helper::CameraCalibration::d0 |
| double frame_helper::CameraCalibration::d1 |
| double frame_helper::CameraCalibration::d2 |
| double frame_helper::CameraCalibration::d3 |
| double frame_helper::CameraCalibration::ex |
Re-projection error in pixels during calibration (x and y coordinates) Calibration Errors 1-sigma standard deviation
| double frame_helper::CameraCalibration::ey |
| bool frame_helper::CameraCalibration::fisheye |
indicates that the distrotion parameter are for a fisheye lens
| double frame_helper::CameraCalibration::fx |
focal length the calibration in x and y direction
| double frame_helper::CameraCalibration::fy |
| int frame_helper::CameraCalibration::height |
| int frame_helper::CameraCalibration::width |
The documentation for this struct was generated from the following files:
- /build/rock-master-18.09-perception-frame-helper-0.20170628/src/Calibration.h
- /build/rock-master-18.09-perception-frame-helper-0.20170628/src/Calibration.cpp
