Helper module to calibrate a given sensor+lens combo, which allows ArUco and other modules to do 3D pose estimation. More...

Inheritance diagram for CalibrateCamera:

[legend]

Collaboration diagram for CalibrateCamera:

[legend]

Public Member Functions
virtual	~CalibrateCamera ()
	Virtual destructor for safe inheritance.

void	process_frame (cv::Mat const &view)
	Process one captured image.

void	do_calibration ()

double	computeReprojectionErrors (std::vector< std::vector< cv::Point3f > > const &objectPoints, std::vector< cv::Mat > const &rvecs, std::vector< cv::Mat > const &tvecs, std::vector< float > &perViewErrors)

void	calcBoardCornerPositions (cv::Size boardsiz, float squaresiz, std::vector< cv::Point3f > &corners)

bool	runCalibration (std::vector< cv::Mat > &rvecs, std::vector< cv::Mat > &tvecs, std::vector< float > &reprojErrs, double &totalAvgErr, std::vector< cv::Point3f > &newObjPoints)

virtual void	process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
	Processing function with video output to USB.

virtual void	process (jevois::InputFrame &&inframe, jevois::GUIhelper &helper) override
	Processing function with zero-copy and GUI on JeVois-Pro.

Public Member Functions inherited from jevois::Module
	Module (std::string const &instance)

virtual	~Module ()

virtual void	process (InputFrame &&inframe)

virtual void	sendSerial (std::string const &str)

virtual void	parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)

virtual void	supportedCommands (std::ostream &os)

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

void	hideParam (std::string const &paramdescriptor, bool doit)

void	hideAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

bool	initialized () const

std::string const &	className () const

std::string const &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor, bool doit)

void	freezeAllParams (bool doit)

void	hideParam (std::string const &paramdescriptor, bool doit)

void	hideAllParams (bool doit)

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Protected Member Functions
void	restart ()

virtual void	onParamChange (pattern const &par, Pattern const &val)
	Restart when some critical params are changed:

virtual void	onParamChange (dictionary const &par, aruco::Dict const &val)

virtual void	onParamChange (boardSize const &par, cv::Size const &val)

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	postInit ()

virtual void	preUninit ()

virtual void	postUninit ()

virtual void	preInit ()

virtual void	postInit ()

virtual void	preUninit ()

virtual void	postUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Related Symbols
(Note that these are not member symbols.)
	JEVOIS_DEFINE_ENUM_CLASS (Pattern,(ChessBoard)(ChArUcoBoard)(CirclesGrid)(AsymmetricCirclesGrid))
	Enum for parameter.

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (pattern, Pattern, "Type of calibration board pattern to use", Pattern::ChessBoard, Pattern_Values, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (dictionary, aruco::Dict, "ArUco dictionary to use", aruco::Dict::D4X4_50, aruco::Dict_Values, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (squareSize, float, "Size of each tile (check) in user-chosen units (e.g., mm, inch, etc). The " "unit used here is the one that will be used once calibrated to report 3D coordinates " "of objects relative to the camera", 23.0f, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (markerSize, float, "ChArUco marker size in user-chosen units (e.g., mm, inch, " "etc). The unit used here is the one that will be used once calibrated to report 3D " "coordinates of objects relative to the camera", 27.0f, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (boardSize, cv::Size, "Board size [width height] in number of horizontal and " "vertical tiles/disks. (Note: for asymmetric circle grid, count the number of " "disks on each row, then the number of rows). The product width * height " "should be the total number of tiles/disks on the grid.)", { 11, 7 }, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (aspectRatio, float, "Fixed aspect ratio value to use when non-zero, or auto when 0.0", 0.0F, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (zeroTangentDist, bool, "Assume zero tangential distortion coefficients P1, P2 and do " "not try to optimize them, i.e., assume board is exactly planar", true, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixPrincipalPoint, bool, "Fix principal point at center, otherwise find its location", true, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fishEye, bool, "Use fisheye model. Should be true if using a wide-angle lens that " "produces significant barrel distortion, otherwise false", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (winSize, unsigned char, "Half of search window size for sub-pixel corner refinement", 11, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK1, bool, "Fix (do not try to optimize) K1 radial distortion parameter", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK2, bool, "Fix (do not try to optimize) K2 radial distortion parameter", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK3, bool, "Fix (do not try to optimize) K3 radial distortion parameter", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK4, bool, "Fix (do not try to optimize) K4 radial distortion parameter", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK5, bool, "Fix (do not try to optimize) K5 radial distortion parameter (not used " "by fisheye lenses)", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (fixK6, bool, "Fix (do not try to optimize) K6 radial distortion parameter (not used " "by fisheye lenses)", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (showUndistorted, bool, "Once calibrated, show undistorted image instead of original capture", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (grab, bool, "Grab one image, try to detect the calibration pattern, and add to list of " "detected patterns so far. Click this for at least 5 images showing your calibration board " "under various viewpoints. When enough boards have been successfully captured, click " "'calibrate'", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (calibrate, bool, "Calibrate using all the grabbed boards so far. You first need to grab " "enough good views of your calibration board before you can calibrate.", false, ParamCateg)
	Parameter.

Detailed Description

Helper module to calibrate a given sensor+lens combo, which allows ArUco and other modules to do 3D pose estimation.

Just follow the on-screen prompts to calibrate your camera. The calibration results will be saved into /jevois[pro]/share/camera/ on microSD and will be automatically loaded when using a machine vision module that uses camera calibration, for example DemoArUco or FirstVision.

The basic workflow is:

print a calibration board and affix is to a good planar surface (e.g., an acrylic board, aluminum board, etc). Or buy a board, for example from https://calib.io or similar.
decide which sensor, resolution, and lens you want to calibrate. The sensor should be detected at boot time (check engine::camerasens system parameter). The lens can be set manually through the engine::cameralens parameter. The default lens is called "standard". For the resolution, edit videomappings.cfg and add a mode for the CalibrateCamera module that will use the same resolution as the one you want to use later for machine vision. Several commented-out examples are already in videomappings.cfg, so likely you can just uncomment one of them. Then run the corresponding version of the CalibrateCamera module.
set the parameters to match the board type, board width and height in number of tiles, tile size in the unit that you want to later use to estimate distance to detected objects (e.g., in millimeters, inches, etc), and possibly ChArUco marker size and dictionary.
point the camera towards the board so that the full board is in the camera view. Click 'grab'. Change the viewpoint and repeat at least 5 times. Use various 3D viewpoints.
click 'calibrate' and the calibration will be computed and saved to microSD for that sensor, resolution, and lens. It will be ready to be loaded by modules that want to use it.

The default settings are for a 11x7 Chess Board that was created using the online generator at https://calib.io and which you can get from http://jevois.org/data/calib.io_checker_260x200_7x11_23.pdf - When you print the board, make sure you print at 100% scale. You should confirm that the checks in the printout are 23mm x 23mm.

An alternate chess board with fewer checks may be desirable at low resolutions, such as the 7x5 chess board at http://jevois.org/data/calib.io_checker_260x200_5x7_36.pdf - if you use it, set board size to '7 5', and square size to '36' to match it.

If you are using a wide-angle fish-eye lens with a lot of distortion, turn on the fishEye parameter.

You can also use a ChArUco board, though we have actually obtained worse reprojection errors with these boards. You can print the board at http://jevois.org/data/calib.io_charuco_260x200_5x7_36_27_DICT_4X4.pdf at 100% scale, and you should confirm that the checks in the printout are 36mm x 36mm, and the ArUco patterns within the white checks are 27mm x 27mm. If you use it, you need to set the board type, size, marker size, and square size parameters to match it. An alternate board with more ChArUcos is at http://jevois.org/data/calib.io_charuco_260x200_7x11_23_17_DICT_4X4.pdf

Author: Laurent Itti

Display Name:: Calibrate Camera

Videomapping:: YUYV 320 495 30.0 YUYV 320 240 30.0 JeVois DemoArUco

Videomapping:: YUYV 640 975 20.0 YUYV 640 480 20.0 JeVois DemoArUco

Email:: itti@usc.edu

Address:: University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA

Copyright: Copyright (C) 2024 by Laurent Itti, iLab and the University of Southern California

Main URL:: http://jevois.org

Support URL:: http://jevois.org/doc

Other URL:: http://iLab.usc.edu

License:: GPL v3

Distribution:: Unrestricted

Restrictions:: None

Definition at line 189 of file CalibrateCamera.C.

Constructor & Destructor Documentation

◆ ~CalibrateCamera()

virtual CalibrateCamera::~CalibrateCamera ( )

inlinevirtual

Virtual destructor for safe inheritance.

Definition at line 204 of file CalibrateCamera.C.

Member Function Documentation

◆ calcBoardCornerPositions()

void CalibrateCamera::calcBoardCornerPositions	(	cv::Size	boardsiz,
		float	squaresiz,
		std::vector< cv::Point3f > &	corners
	)

inline

Definition at line 433 of file CalibrateCamera.C.

Referenced by runCalibration().

◆ computeReprojectionErrors()

double CalibrateCamera::computeReprojectionErrors	(	std::vector< std::vector< cv::Point3f > > const &	objectPoints,
		std::vector< cv::Mat > const &	rvecs,
		std::vector< cv::Mat > const &	tvecs,
		std::vector< float > &	perViewErrors
	)

inline

Definition at line 405 of file CalibrateCamera.C.

Referenced by runCalibration().

◆ do_calibration()

void CalibrateCamera::do_calibration ( )

inline

Definition at line 353 of file CalibrateCamera.C.

References jevois::CameraCalibration::avgReprojErr, jevois::CameraCalibration::camMatrix, jevois::CameraCalibration::distCoeffs, jevois::CameraCalibration::fisheye, jevois::CameraCalibration::h, jevois::CameraCalibration::lens, runCalibration(), jevois::CameraCalibration::sensor, and jevois::CameraCalibration::w.

Referenced by process_frame().

◆ onParamChange() [1/3]

virtual void CalibrateCamera::onParamChange	(	boardSize const &	par,
		cv::Size const &	val
	)

inlineprotectedvirtual

Definition at line 775 of file CalibrateCamera.C.

References restart().

◆ onParamChange() [2/3]

virtual void CalibrateCamera::onParamChange	(	dictionary const &	par,
		aruco::Dict const &	val
	)

inlineprotectedvirtual

Definition at line 774 of file CalibrateCamera.C.

References restart().

◆ onParamChange() [3/3]

virtual void CalibrateCamera::onParamChange	(	pattern const &	par,
		Pattern const &	val
	)

inlineprotectedvirtual

Restart when some critical params are changed:

Definition at line 773 of file CalibrateCamera.C.

References restart().

◆ process() [1/2]

virtual void CalibrateCamera::process	(	jevois::InputFrame &&	inframe,
		jevois::GUIhelper &	helper
	)

inlineoverridevirtual

Processing function with zero-copy and GUI on JeVois-Pro.

Reimplemented from jevois::Module.

Definition at line 602 of file CalibrateCamera.C.

References jevois::GUIhelper::drawImage(), jevois::GUIhelper::drawInputFrame(), jevois::GUIhelper::endFrame(), jevois::GUIhelper::iinfo(), jevois::GUIhelper::itext(), process_frame(), restart(), jevois::Timer::start(), jevois::GUIhelper::startFrame(), and jevois::Timer::stop().

◆ process() [2/2]

virtual void CalibrateCamera::process	(	jevois::InputFrame &&	inframe,
		jevois::OutputFrame &&	outframe
	)

inlineoverridevirtual

Processing function with video output to USB.

Reimplemented from jevois::Module.

Definition at line 515 of file CalibrateCamera.C.

References jevois::async(), jevois::yuyv::Black, jevois::rawimage::convertToCvBGR(), jevois::rawimage::drawFilledRect(), h, jevois::RawImage::height, jevois::rawimage::itext(), jevois::rawimage::paste(), jevois::rawimage::pasteBGRtoYUYV(), process_frame(), jevois::RawImage::require(), jevois::Timer::start(), jevois::Timer::stop(), jevois::yuyv::White, jevois::RawImage::width, and jevois::rawimage::writeText().

◆ process_frame()

void CalibrateCamera::process_frame ( cv::Mat const & view )

inline

Process one captured image.

Definition at line 210 of file CalibrateCamera.C.

References do_calibration(), ArUco::getDictionary(), LINFO, and restart().

Referenced by process(), and process().

◆ restart()

void CalibrateCamera::restart ( )

inlineprotected

Definition at line 763 of file CalibrateCamera.C.

Referenced by onParamChange(), onParamChange(), onParamChange(), process(), and process_frame().

◆ runCalibration()

bool CalibrateCamera::runCalibration	(	std::vector< cv::Mat > &	rvecs,
		std::vector< cv::Mat > &	tvecs,
		std::vector< float > &	reprojErrs,
		double &	totalAvgErr,
		std::vector< cv::Point3f > &	newObjPoints
	)

inline

Definition at line 461 of file CalibrateCamera.C.

References calcBoardCornerPositions(), computeReprojectionErrors(), and LINFO.

Referenced by do_calibration().

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/16]

JEVOIS_DECLARE_PARAMETER	(	aspectRatio	,
		float	,
		"Fixed aspect ratio value to use when non-	zero,
		or auto when 0.0"	,
		0.	0F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/16]

JEVOIS_DECLARE_PARAMETER	(	calibrate	,
		bool	,
		"Calibrate using all the grabbed boards so far. You first need to grab " "enough good views of your calibration board before you can calibrate."	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/16]

JEVOIS_DECLARE_PARAMETER	(	fishEye	,
		bool	,
		"Use fisheye model. Should be true if using a wide-angle lens that " "produces significant barrel	distortion,
		otherwise false"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [4/16]

JEVOIS_DECLARE_PARAMETER	(	fixK1	,
		bool	,
		"Fix (do not try to optimize) K1 radial distortion parameter"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [5/16]

JEVOIS_DECLARE_PARAMETER	(	fixK2	,
		bool	,
		"Fix (do not try to optimize) K2 radial distortion parameter"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [6/16]

JEVOIS_DECLARE_PARAMETER	(	fixK3	,
		bool	,
		"Fix (do not try to optimize) K3 radial distortion parameter"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [7/16]

JEVOIS_DECLARE_PARAMETER	(	fixK4	,
		bool	,
		"Fix (do not try to optimize) K4 radial distortion parameter"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [8/16]

JEVOIS_DECLARE_PARAMETER	(	fixK5	,
		bool	,
		"Fix (do not try to optimize) K5 radial distortion parameter (not used " "by fisheye lenses)"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [9/16]

JEVOIS_DECLARE_PARAMETER	(	fixK6	,
		bool	,
		"Fix (do not try to optimize) K6 radial distortion parameter (not used " "by fisheye lenses)"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [10/16]

JEVOIS_DECLARE_PARAMETER	(	fixPrincipalPoint	,
		bool	,
		"Fix principal point at	center,
		otherwise find its location"	,
		true	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [11/16]

JEVOIS_DECLARE_PARAMETER	(	grab	,
		bool	,
		"Grab one	image,
		try to detect the calibration	pattern,
		and add to list of " "detected patterns so far. Click this for at least 5 images showing your calibration board " "under various viewpoints. When enough boards have been successfully	captured,
		click " " 'calibrate'"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [12/16]

JEVOIS_DECLARE_PARAMETER	(	markerSize	,
		float	,
		"ChArUco marker size in user-chosen units (e.g., mm, inch, " "etc). The unit used here is the one that will be used once calibrated to report 3D " "coordinates of objects relative to the camera"	,
		27.	0f,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [13/16]

JEVOIS_DECLARE_PARAMETER	(	showUndistorted	,
		bool	,
		"Once	calibrated,
		show undistorted image instead of original capture"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [14/16]

JEVOIS_DECLARE_PARAMETER	(	squareSize	,
		float	,
		"Size of each tile (check) in user-chosen units (e.g., mm, inch, etc). The " "unit used here is the one that will be used once calibrated to report 3D coordinates " "of objects relative to the camera"	,
		23.	0f,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [15/16]

JEVOIS_DECLARE_PARAMETER	(	winSize	,
		unsigned char	,
		"Half of search window size for sub-pixel corner refinement"	,
		11	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [16/16]

JEVOIS_DECLARE_PARAMETER	(	zeroTangentDist	,
		bool	,
		"Assume zero tangential distortion coefficients	P1,
		P2 and do " "not try to optimize	them,
		i.	e.,
		assume board is exactly planar"	,
		true	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/3]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	boardSize	,
		cv::Size	,
		"Board size in number of horizontal and " "vertical tiles/disks. (Note: for asymmetric circle grid, count the number of " "disks on each row, then the number of rows). The product width * height " "should be the total number of tiles/disks on the	grid.[width height]
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/3]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	dictionary	,
		aruco::Dict	,
		"ArUco dictionary to use"	,
		aruco::Dict::D4X4_50	,
		aruco::Dict_Values	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/3]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	pattern	,
		Pattern	,
		"Type of calibration board pattern to use"	,
		Pattern::ChessBoard	,
		Pattern_Values	,
		ParamCateg
	)

◆ JEVOIS_DEFINE_ENUM_CLASS()

JEVOIS_DEFINE_ENUM_CLASS	(	Pattern	,
		(ChessBoard)(ChArUcoBoard)(CirclesGrid)(AsymmetricCirclesGrid)
	)

The documentation for this class was generated from the following file:

src/Modules/CalibrateCamera/CalibrateCamera.C

Public Member Functions

Protected Member Functions

Related Symbols

Detailed Description

Constructor & Destructor Documentation

◆ ~CalibrateCamera()

Member Function Documentation

◆ calcBoardCornerPositions()

◆ computeReprojectionErrors()

◆ do_calibration()

◆ onParamChange() [1/3]

◆ onParamChange() [2/3]

◆ onParamChange() [3/3]

◆ process() [1/2]

◆ process() [2/2]

◆ process_frame()

◆ restart()

◆ runCalibration()

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/16]

◆ JEVOIS_DECLARE_PARAMETER() [2/16]

◆ JEVOIS_DECLARE_PARAMETER() [3/16]

◆ JEVOIS_DECLARE_PARAMETER() [4/16]

◆ JEVOIS_DECLARE_PARAMETER() [5/16]

◆ JEVOIS_DECLARE_PARAMETER() [6/16]

◆ JEVOIS_DECLARE_PARAMETER() [7/16]

◆ JEVOIS_DECLARE_PARAMETER() [8/16]

◆ JEVOIS_DECLARE_PARAMETER() [9/16]

◆ JEVOIS_DECLARE_PARAMETER() [10/16]

◆ JEVOIS_DECLARE_PARAMETER() [11/16]

◆ JEVOIS_DECLARE_PARAMETER() [12/16]

◆ JEVOIS_DECLARE_PARAMETER() [13/16]

◆ JEVOIS_DECLARE_PARAMETER() [14/16]

◆ JEVOIS_DECLARE_PARAMETER() [15/16]

◆ JEVOIS_DECLARE_PARAMETER() [16/16]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/3]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/3]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/3]

◆ JEVOIS_DEFINE_ENUM_CLASS()