10 #ifndef mrpt_vision_chessboard_stereo_calib_H
11 #define mrpt_vision_chessboard_stereo_calib_H
65 bool optimize_k1, optimize_k2, optimize_k3, optimize_t1, optimize_t2;
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Structure to hold the parameters of a pinhole stereo camera model.
bool VISION_IMPEXP checkerBoardStereoCalibration(TCalibrationStereoImageList &images, const TStereoCalibParams ¶ms, TStereoCalibResults &out_results)
Optimize the calibration parameters of a stereo camera or a RGB+D (Kinect) camera.
void(* TSteroCalibCallbackFunctor)(const TImageStereoCallbackData &d, void *user_data)
Prototype of optional user callback function.
std::vector< TImageStereoCalibData > TCalibrationStereoImageList
A list of images, used in checkerBoardStereoCalibration.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...
Data associated to each stereo image in the calibration process mrpt::vision::checkerBoardCameraCalib...
void clear()
Empty all the data.
Params of the optional callback provided by the user.
int calibRound
=-1:Processing images; =0: Initial calib without distortion, =1: Calib of all parameters
double current_rmse
Current root-mean square reprojection error (in pixels)
unsigned int nImgsProcessed
Input parameters for mrpt::vision::checkerBoardStereoCalibration.
TSteroCalibCallbackFunctor callback
If set to !=NULL, this function will be called within each Lev-Marq. iteration (don't do heavy stuff ...
void * callback_user_param
If using a callback function, you can use this to pass custom data to your callback.
size_t maxIters
Maximum number of iterations of the optimizer (default=300)
double robust_kernel_param
The parameter of the robust kernel, in pixels (only if use_robust_kernel=true) (Default=10)
bool skipDrawDetectedImgs
bool use_robust_kernel
Employ a Pseudo-Huber robustifier kernel (Default: false)
bool verbose
Show progress messages to std::cout console (default=true)
unsigned int check_size_x
bool optimize_k1
Select which distortion parameters (of both left/right cameras) will be optimzed: k1,...
double check_squares_length_X_meters
Output results for mrpt::vision::checkerBoardStereoCalibration.
std::vector< bool > image_pair_was_used
true if a checkerboard was correctly detected in both left/right images. false if it wasn't,...
size_t final_iters
Final number of optimization iterations executed.
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 ...
mrpt::poses::CPose3D right2left_camera_pose
The pose of the left camera as seen from the right camera.
double final_rmse
Final reprojection square Root Mean Square Error (in pixels).
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t left_cam_poses
Poses of the origin of coordinates of the pattern wrt the left camera (i.e.
mrpt::utils::TStereoCamera cam_params
Recovered parameters of the stereo camera.
size_t final_number_good_image_pairs
Number of image pairs in which valid checkerboards were correctly detected.