MRPT  1.9.9
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mrpt::vision::TStereoCalibResults Struct Reference

Detailed Description

Output results for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 100 of file chessboard_stereo_camera_calib.h.

#include <mrpt/vision/chessboard_stereo_camera_calib.h>

Public Member Functions

 TStereoCalibResults ()
 

Public Attributes

mrpt::img::TStereoCamera cam_params
 Recovered parameters of the stereo camera. More...
 
mrpt::poses::CPose3D right2left_camera_pose
 The pose of the left camera as seen from the right camera. More...
 
std::vector< mrpt::math::TPose3Dleft_cam_poses
 Poses of the origin of coordinates of the pattern wrt the left camera (i.e. More...
 
std::vector< bool > image_pair_was_used
 true if a checkerboard was correctly detected in both left/right images. More...
 
double final_rmse {0}
 Final reprojection square Root Mean Square Error (in pixels). More...
 
size_t final_iters {0}
 Final number of optimization iterations executed. More...
 
size_t final_number_good_image_pairs {0}
 Number of image pairs in which valid checkerboards were correctly detected. More...
 
std::array< double, 9 > left_params_inv_variance
 The inverse variance (information/precision) of each of the 9 left/right camera parameters [fx fy cx cy k1 k2 k3 t1 t2]. More...
 
std::array< double, 9 > right_params_inv_variance
 

Constructor & Destructor Documentation

◆ TStereoCalibResults()

TStereoCalibResults::TStereoCalibResults ( )
default

Member Data Documentation

◆ cam_params

mrpt::img::TStereoCamera mrpt::vision::TStereoCalibResults::cam_params

Recovered parameters of the stereo camera.

Definition at line 105 of file chessboard_stereo_camera_calib.h.

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

◆ final_iters

size_t mrpt::vision::TStereoCalibResults::final_iters {0}

Final number of optimization iterations executed.

Definition at line 121 of file chessboard_stereo_camera_calib.h.

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

◆ final_number_good_image_pairs

size_t mrpt::vision::TStereoCalibResults::final_number_good_image_pairs {0}

Number of image pairs in which valid checkerboards were correctly detected.

Definition at line 124 of file chessboard_stereo_camera_calib.h.

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

◆ final_rmse

double mrpt::vision::TStereoCalibResults::final_rmse {0}

Final reprojection square Root Mean Square Error (in pixels).

Definition at line 119 of file chessboard_stereo_camera_calib.h.

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

◆ image_pair_was_used

std::vector<bool> mrpt::vision::TStereoCalibResults::image_pair_was_used

true if a checkerboard was correctly detected in both left/right images.

false if it wasn't, so the image pair didn't make it to the optimization.

Definition at line 116 of file chessboard_stereo_camera_calib.h.

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

◆ left_cam_poses

std::vector<mrpt::math::TPose3D> mrpt::vision::TStereoCalibResults::left_cam_poses

Poses of the origin of coordinates of the pattern wrt the left camera (i.e.

the origin of coordinates, as seen from the different camera poses)

Definition at line 112 of file chessboard_stereo_camera_calib.h.

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

◆ left_params_inv_variance

std::array<double, 9> mrpt::vision::TStereoCalibResults::left_params_inv_variance

The inverse variance (information/precision) of each of the 9 left/right camera parameters [fx fy cx cy k1 k2 k3 t1 t2].

Those not estimated as indicated in TStereoCalibParams will be zeros (i.e. an "infinite uncertainty")

Definition at line 131 of file chessboard_stereo_camera_calib.h.

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

◆ right2left_camera_pose

mrpt::poses::CPose3D mrpt::vision::TStereoCalibResults::right2left_camera_pose

The pose of the left camera as seen from the right camera.

Definition at line 107 of file chessboard_stereo_camera_calib.h.

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

◆ right_params_inv_variance

std::array<double, 9> mrpt::vision::TStereoCalibResults::right_params_inv_variance



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