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mrpt::vision::TStereoCalibParams Struct Reference

Detailed Description

Input parameters for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 56 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
 The number of squares in the checkerboard in the "X" & "Y" direction. More...
 
unsigned int check_size_y
 
double check_squares_length_X_meters
 The size of each square in the checkerboard, in meters, in the "X" & Y" axes. More...
 
double check_squares_length_Y_meters
 
bool normalize_image
 
bool skipDrawDetectedImgs
 
bool verbose
 Show progress messages to std::cout console (default=true) More...
 
size_t maxIters
 Maximum number of iterations of the optimizer (default=300) More...
 
bool optimize_k1
 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
 
bool optimize_k3
 
bool optimize_t1
 
bool optimize_t2
 
bool use_robust_kernel
 Employ a Pseudo-Huber robustifier kernel (Default: false) More...
 
double robust_kernel_param
 The parameter of the robust kernel, in pixels (only if use_robust_kernel=true) (Default=10) More...
 
TSteroCalibCallbackFunctor callback
 If set to !=NULL, this function will be called within each Lev-Marq. More...
 
voidcallback_user_param
 If using a callback function, you can use this to pass custom data to your callback. More...
 

Constructor & Destructor Documentation

◆ TStereoCalibParams()

TStereoCalibParams::TStereoCalibParams ( )

Definition at line 1328 of file chessboard_stereo_camera_calib.cpp.

Member Data Documentation

◆ callback

TSteroCalibCallbackFunctor mrpt::vision::TStereoCalibParams::callback

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 89 of file chessboard_stereo_camera_calib.h.

◆ callback_user_param

void* mrpt::vision::TStereoCalibParams::callback_user_param

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

Definition at line 92 of file chessboard_stereo_camera_calib.h.

◆ check_size_x

unsigned int mrpt::vision::TStereoCalibParams::check_size_x

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

Definition at line 59 of file chessboard_stereo_camera_calib.h.

◆ check_size_y

unsigned int mrpt::vision::TStereoCalibParams::check_size_y

Definition at line 59 of file chessboard_stereo_camera_calib.h.

◆ check_squares_length_X_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_X_meters

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

Definition at line 62 of file chessboard_stereo_camera_calib.h.

◆ check_squares_length_Y_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_Y_meters

Definition at line 62 of file chessboard_stereo_camera_calib.h.

◆ maxIters

size_t mrpt::vision::TStereoCalibParams::maxIters

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

Definition at line 68 of file chessboard_stereo_camera_calib.h.

◆ normalize_image

bool mrpt::vision::TStereoCalibParams::normalize_image

Definition at line 63 of file chessboard_stereo_camera_calib.h.

◆ optimize_k1

bool mrpt::vision::TStereoCalibParams::optimize_k1

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.

◆ optimize_k2

bool mrpt::vision::TStereoCalibParams::optimize_k2

Definition at line 79 of file chessboard_stereo_camera_calib.h.

◆ optimize_k3

bool mrpt::vision::TStereoCalibParams::optimize_k3

Definition at line 79 of file chessboard_stereo_camera_calib.h.

◆ optimize_t1

bool mrpt::vision::TStereoCalibParams::optimize_t1

Definition at line 79 of file chessboard_stereo_camera_calib.h.

◆ optimize_t2

bool mrpt::vision::TStereoCalibParams::optimize_t2

Definition at line 79 of file chessboard_stereo_camera_calib.h.

◆ robust_kernel_param

double mrpt::vision::TStereoCalibParams::robust_kernel_param

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

Definition at line 85 of file chessboard_stereo_camera_calib.h.

◆ skipDrawDetectedImgs

bool mrpt::vision::TStereoCalibParams::skipDrawDetectedImgs

Definition at line 64 of file chessboard_stereo_camera_calib.h.

◆ use_robust_kernel

bool mrpt::vision::TStereoCalibParams::use_robust_kernel

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

Definition at line 82 of file chessboard_stereo_camera_calib.h.

◆ verbose

bool mrpt::vision::TStereoCalibParams::verbose

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

Definition at line 66 of file chessboard_stereo_camera_calib.h.




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