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