opentl::input::CameraCalibration Class Reference

List of all members.

Public Member Functions

bool calibrate ()
bool calibrateExtrinsics ()
bool calibrateIntrinsics ()
 CameraCalibration (std::vector< opentl::input::ImageSensor * > &imageSensors, double squareWidth=25.0, unsigned int boardWidth=5, unsigned int boardHeight=4, unsigned int neededChessboards=20, bool bGetChessboardAuto=true)
void getDistortions (std::vector< opentl::math::Vector4 > &distortionsForCam)
bool getExtrinsics (std::vector< opentl::math::Transform > &extrinsics)
void getIntrinsics (std::vector< opentl::math::SquareMatrix > &intrinsics)
void setExtrinsicsFromSingleChessboard (std::vector< opentl::math::Transform > &extrinsics)
void setIntrinsics (const std::vector< opentl::math::SquareMatrix > &intrinsics)
virtual ~CameraCalibration ()


Constructor & Destructor Documentation

opentl::input::CameraCalibration::CameraCalibration ( std::vector< opentl::input::ImageSensor * > &  imageSensors,
double  squareWidth = 25.0,
unsigned int  boardWidth = 5,
unsigned int  boardHeight = 4,
unsigned int  neededChessboards = 20,
bool  bGetChessboardAuto = true 
)

Constructor

Parameters:
imageSensors Vector of input sensors to be calibrated
squareWidth Size of chessboard squares (metric units)
boardWidth Number of squares to be used for calibration (horizontal side)
boardHeight Number of squares to be used for calibration (vertical side)
neededChessboards How many chessboard views are needed
bGetChessboardAuto Whether to detect the pattern on each frame, or manually (press 's' key)

virtual opentl::input::CameraCalibration::~CameraCalibration (  )  [virtual]


Member Function Documentation

bool opentl::input::CameraCalibration::calibrate (  ) 

bool opentl::input::CameraCalibration::calibrateExtrinsics (  ) 

bool opentl::input::CameraCalibration::calibrateIntrinsics (  ) 

void opentl::input::CameraCalibration::getDistortions ( std::vector< opentl::math::Vector4 > &  distortionsForCam  ) 

bool opentl::input::CameraCalibration::getExtrinsics ( std::vector< opentl::math::Transform > &  extrinsics  ) 

Retrieve the extrinsics transformation between sensor0 and sensor1 Assuming sensor0 to be origin and the extrinsic the transformation from sensor1 to sensor0

void opentl::input::CameraCalibration::getIntrinsics ( std::vector< opentl::math::SquareMatrix > &  intrinsics  ) 

void opentl::input::CameraCalibration::setExtrinsicsFromSingleChessboard ( std::vector< opentl::math::Transform > &  extrinsics  ) 

Place the chessboard pattern somewhere, where it can be seen from at least one cam, and compute the extrinsics w.r.t. this chessboard (T_cam_to_chessboard) extrinsics: reference to the EMPTY vector of extrinsics, that will be filled appropriately

void opentl::input::CameraCalibration::setIntrinsics ( const std::vector< opentl::math::SquareMatrix > &  intrinsics  ) 


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