MRPT  1.9.9
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mrpt::vision::TStereoCalibParams Struct Reference

Detailed Description

Input parameters for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 55 of file chessboard_stereo_camera_calib.h.

#include <mrpt/vision/chessboard_stereo_camera_calib.h>

Public Member Functions

 TStereoCalibParams ()
 

Public Attributes

unsigned int check_size_x {7}
 The number of squares in the checkerboard in the "X" & "Y" direction. More...
 
unsigned int check_size_y {9}
 
double check_squares_length_X_meters {0.02}
 The size of each square in the checkerboard, in meters, in the "X" & Y" axes. More...
 
double check_squares_length_Y_meters {0.02}
 
bool normalize_image {true}
 
bool skipDrawDetectedImgs {false}
 
bool verbose {true}
 Show progress messages to std::cout console (default=true) More...
 
size_t maxIters {2000}
 Maximum number of iterations of the optimizer (default=300) More...
 
bool optimize_k1 {true}
 Select which distortion parameters (of both left/right cameras) will be optimzed: k1,k2,k3 are the r^2, r^4 and r^6 radial distorion coeficients, and t1 and t2 are the tangential distortion coeficients (see mrpt::img::TCamera). More...
 
bool optimize_k2 {true}
 
bool optimize_k3 {false}
 
bool optimize_t1 {false}
 
bool optimize_t2 {false}
 
bool use_robust_kernel {false}
 Employ a Pseudo-Huber robustifier kernel (Default: false) More...
 
double robust_kernel_param {10}
 The parameter of the robust kernel, in pixels (only if use_robust_kernel=true) (Default=10) More...
 
TSteroCalibCallbackFunctor callback {nullptr}
 If set to !=NULL, this function will be called within each Lev-Marq. More...
 
void * callback_user_param {nullptr}
 If using a callback function, you can use this to pass custom data to your callback. More...
 

Constructor & Destructor Documentation

◆ TStereoCalibParams()

TStereoCalibParams::TStereoCalibParams ( )
default

Member Data Documentation

◆ callback

TSteroCalibCallbackFunctor mrpt::vision::TStereoCalibParams::callback {nullptr}

If set to !=NULL, this function will be called within each Lev-Marq.

iteration (don't do heavy stuff here since performance will degrade)

Definition at line 90 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ callback_user_param

void* mrpt::vision::TStereoCalibParams::callback_user_param {nullptr}

If using a callback function, you can use this to pass custom data to your callback.

Definition at line 93 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_size_x

unsigned int mrpt::vision::TStereoCalibParams::check_size_x {7}

The number of squares in the checkerboard in the "X" & "Y" direction.

Definition at line 58 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_size_y

unsigned int mrpt::vision::TStereoCalibParams::check_size_y {9}

◆ check_squares_length_X_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_X_meters {0.02}

The size of each square in the checkerboard, in meters, in the "X" & Y" axes.

Definition at line 61 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_squares_length_Y_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_Y_meters {0.02}

◆ maxIters

size_t mrpt::vision::TStereoCalibParams::maxIters {2000}

Maximum number of iterations of the optimizer (default=300)

Definition at line 68 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ normalize_image

bool mrpt::vision::TStereoCalibParams::normalize_image {true}

◆ optimize_k1

bool mrpt::vision::TStereoCalibParams::optimize_k1 {true}

Select which distortion parameters (of both left/right cameras) will be optimzed: k1,k2,k3 are the r^2, r^4 and r^6 radial distorion coeficients, and t1 and t2 are the tangential distortion coeficients (see mrpt::img::TCamera).

Those set to false will be assumed to be fixed to zero (no distortion).

Note
Default values are to only assume distortion via k1 and k2 (the rest are zeros).

Definition at line 79 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ optimize_k2

bool mrpt::vision::TStereoCalibParams::optimize_k2 {true}

◆ optimize_k3

bool mrpt::vision::TStereoCalibParams::optimize_k3 {false}

◆ optimize_t1

bool mrpt::vision::TStereoCalibParams::optimize_t1 {false}

◆ optimize_t2

bool mrpt::vision::TStereoCalibParams::optimize_t2 {false}

◆ robust_kernel_param

double mrpt::vision::TStereoCalibParams::robust_kernel_param {10}

The parameter of the robust kernel, in pixels (only if use_robust_kernel=true) (Default=10)

Definition at line 86 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ skipDrawDetectedImgs

bool mrpt::vision::TStereoCalibParams::skipDrawDetectedImgs {false}

Definition at line 64 of file chessboard_stereo_camera_calib.h.

◆ use_robust_kernel

bool mrpt::vision::TStereoCalibParams::use_robust_kernel {false}

Employ a Pseudo-Huber robustifier kernel (Default: false)

Definition at line 83 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ verbose

bool mrpt::vision::TStereoCalibParams::verbose {true}

Show progress messages to std::cout console (default=true)

Definition at line 66 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), ransac_data_assoc_run(), mrpt::tfest::se2_l2_robust(), and mrpt::tfest::se3_l2_robust().




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