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93 bool normalize_image =
true,
double* out_MSE =
nullptr,
94 bool skipDrawDetectedImgs =
false,
95 bool useScaramuzzaAlternativeDetector =
false);
104 std::vector<double>& distortionParams,
bool normalize_image =
true,
105 double* out_MSE =
nullptr,
bool skipDrawDetectedImgs =
false,
106 bool useScaramuzzaAlternativeDetector =
false);
std::vector< mrpt::img::TPixelCoordf > projectedPoints_undistorted
At output, like projectedPoints_distorted but for the undistorted image.
std::map< std::string, TImageCalibData > TCalibrationImageList
A list of images, used in checkerBoardCameraCalibration.
Copyright (C) 2010 Hauke Strasdat Imperial College London Copyright (c) 2005-2020,...
mrpt::vision::TCalibrationStereoImageList images
Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...
mrpt::img::CImage img_original
This image will be automatically loaded from the file name passed to checkerBoardCameraCalibration.
mrpt::img::CImage img_checkboard
At output, this will contain the detected checkerboard overprinted to the image.
mrpt::poses::CPose3D reconstructed_camera_pose
At output, the reconstructed pose of the camera.
std::vector< mrpt::img::TPixelCoordf > detected_corners
At output, the detected corners (x,y) in pixel units.
params check_squares_length_Y_meters
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool checkerBoardCameraCalibration(TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, mrpt::img::TCamera &out_camera_params, bool normalize_image=true, double *out_MSE=nullptr, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)
Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...
Parameters for the Brown-Conrady camera lens distortion model.
mrpt::img::CImage img_rectified
At output, this will be the rectified image.
A class for storing images as grayscale or RGB bitmaps.
params check_squares_length_X_meters
std::vector< mrpt::img::TPixelCoordf > projectedPoints_distorted
At output, only will have an empty vector if the checkerboard was not found in this image,...
void clear()
Empty all the data.
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