jevois::CameraCalibration Class Reference

#include <jevois/Core/CameraCalibration.H>

Helper class for camera calibration, which allows some modules to compute 3D locations of objects.

This code heavily derived from calibrate_camera.cpp in the OpenCV source tree. Keep it updated as OpenCV is updated.

Definition at line 28 of file CameraCalibration.H.

Public Member Functions
void	load (std::string const &fname)
	Load from file.
void	save (std::string const &fname) const
	Save to file.

Public Attributes
jevois::CameraSensor	sensor = jevois::CameraSensor::any
	Camera sensor.
jevois::CameraLens	lens = jevois::CameraLens::standard
	Camera lens.
bool	fisheye
	True for fisheye lens, requires different correction.
int	w = 0
int	h = 0
	Image width and height (camera resolution)
cv::Mat	camMatrix = cv::Mat::eye(3, 3, CV_64F)
	3x3 camera matrix
cv::Mat	distCoeffs = cv::Mat::zeros(5, 1, CV_64F)
	5x1 distortion coefficients
double	avgReprojErr = 0.0
	Average reprojection error.

Member Function Documentation

load()

void jevois::CameraCalibration::load

(

std::string const &

fname

)

Load from file.

Throws std::runtime_error if file not found

Definition at line 23 of file CameraCalibration.C.

References avgReprojErr, camMatrix, distCoeffs, fisheye, h, lens, sensor, and w.

Referenced by jevois::Engine::loadCameraCalibration().

save()

void jevois::CameraCalibration::save

(

std::string const &

fname

)

const

Save to file.

Throws std::runtime_error if file cannot be written

Definition at line 39 of file CameraCalibration.C.

References h, and jevois::to_string().

Referenced by jevois::Engine::saveCameraCalibration().

Member Data Documentation

avgReprojErr

double jevois::CameraCalibration::avgReprojErr = 0.0

Average reprojection error.

Definition at line 37 of file CameraCalibration.H.

Referenced by load().

camMatrix

cv::Mat jevois::CameraCalibration::camMatrix = cv::Mat::eye(3, 3, CV_64F)

3x3 camera matrix

Definition at line 35 of file CameraCalibration.H.

Referenced by load().

distCoeffs

cv::Mat jevois::CameraCalibration::distCoeffs = cv::Mat::zeros(5, 1, CV_64F)

5x1 distortion coefficients

Definition at line 36 of file CameraCalibration.H.

Referenced by load().

fisheye

bool jevois::CameraCalibration::fisheye

True for fisheye lens, requires different correction.

Definition at line 33 of file CameraCalibration.H.

Referenced by load().

h

int jevois::CameraCalibration::h = 0

Image width and height (camera resolution)

Definition at line 34 of file CameraCalibration.H.

Referenced by load(), jevois::Engine::loadCameraCalibration(), and jevois::Engine::saveCameraCalibration().

lens

jevois::CameraLens jevois::CameraCalibration::lens = jevois::CameraLens::standard

Camera lens.

Definition at line 32 of file CameraCalibration.H.

Referenced by load(), jevois::Engine::loadCameraCalibration(), and jevois::Engine::saveCameraCalibration().

sensor

jevois::CameraSensor jevois::CameraCalibration::sensor = jevois::CameraSensor::any

Camera sensor.

Definition at line 31 of file CameraCalibration.H.

Referenced by load(), jevois::Engine::loadCameraCalibration(), and jevois::Engine::saveCameraCalibration().

w

int jevois::CameraCalibration::w = 0

Definition at line 34 of file CameraCalibration.H.

Referenced by load(), jevois::Engine::loadCameraCalibration(), and jevois::Engine::saveCameraCalibration().

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

• include/jevois/Core/CameraCalibration.H
• src/jevois/Core/CameraCalibration.C