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mrpt::vision::TStereoCalibResults Struct Reference

Detailed Description

Output results for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 99 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...
 
mrpt::aligned_std_vector< mrpt::poses::CPose3Dleft_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
 Final reprojection square Root Mean Square Error (in pixels). More...
 
size_t final_iters
 Final number of optimization iterations executed. More...
 
size_t final_number_good_image_pairs
 Number of image pairs in which valid checkerboards were correctly detected. More...
 
Eigen::Array< double, 9, 1 > 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...
 
Eigen::Array< double, 9, 1 > right_params_inv_variance
 

Constructor & Destructor Documentation

◆ TStereoCalibResults()

TStereoCalibResults::TStereoCalibResults ( )

Definition at line 1349 of file chessboard_stereo_camera_calib.cpp.

Member Data Documentation

◆ cam_params

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

Recovered parameters of the stereo camera.

Definition at line 104 of file chessboard_stereo_camera_calib.h.

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

◆ final_iters

size_t mrpt::vision::TStereoCalibResults::final_iters

Final number of optimization iterations executed.

Definition at line 120 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

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

Definition at line 123 of file chessboard_stereo_camera_calib.h.

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

◆ final_rmse

double mrpt::vision::TStereoCalibResults::final_rmse

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

Definition at line 118 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 115 of file chessboard_stereo_camera_calib.h.

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

◆ left_cam_poses

mrpt::aligned_std_vector<mrpt::poses::CPose3D> 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 111 of file chessboard_stereo_camera_calib.h.

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

◆ left_params_inv_variance

Eigen::Array<double, 9, 1> 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 130 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 106 of file chessboard_stereo_camera_calib.h.

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

◆ right_params_inv_variance

Eigen::Array<double, 9, 1> mrpt::vision::TStereoCalibResults::right_params_inv_variance



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