JeVois  1.21
JeVois Smart Embedded Machine Vision Toolkit
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CameraCalibration.H
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1// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2//
3// JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2024 by Laurent Itti, the University of Southern
4// California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
5//
6// This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
7// redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
8// Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
9// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
10// License for more details. You should have received a copy of the GNU General Public License along with this program;
11// if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
12//
13// Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
14// Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
15// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
16/*! \file */
17
18#pragma once
19
21#include <opencv2/core.hpp>
22
23namespace jevois
24{
25 //! Helper class for camera calibration, which allows some modules to compute 3D locations of objects
26 /*! This code heavily derived from calibrate_camera.cpp in the OpenCV source tree. Keep it updated as OpenCV is
27 updated. \ingroup core */
29 {
30 public:
31 jevois::CameraSensor sensor = jevois::CameraSensor::any; //!< Camera sensor
32 jevois::CameraLens lens = jevois::CameraLens::standard; //!< Camera lens
33 int w = 0, h = 0; //!< Image width and height (camera resolution)
34 cv::Mat camMatrix = cv::Mat::eye(3, 3, CV_64F); //!< 3x3 camera matrix
35 cv::Mat distCoeffs = cv::Mat::zeros(5, 1, CV_64F); //!< 5x1 distortion coefficients
36 double avgReprojErr = 0.0; //!< Average reprojection error
37
38 //! Load from file
39 /*! Throws std::runtime_error if file not found */
40 void load(std::string const & fname);
41
42 //! Save to file
43 /*! Throws std::runtime_error if file cannot be written */
44 void save(std::string const & fname) const;
45 };
46
47} // namespace jevois
Helper class for camera calibration, which allows some modules to compute 3D locations of objects.
void save(std::string const &fname) const
Save to file.
jevois::CameraLens lens
Camera lens.
cv::Mat camMatrix
3x3 camera matrix
cv::Mat distCoeffs
5x1 distortion coefficients
double avgReprojErr
Average reprojection error.
int h
Image width and height (camera resolution)
jevois::CameraSensor sensor
Camera sensor.
void load(std::string const &fname)
Load from file.
Main namespace for all JeVois classes and functions.
Definition Concepts.dox:2