mrpt::vision::TImageCalibData Struct Reference

Detailed Description

Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration (All the information can be left empty and will be filled up in the calibration method).

Definition at line 50 of file chessboard_camera_calib.h.

#include <mrpt/vision/chessboard_camera_calib.h>

Public Member Functions
void	clear ()
	Empty all the data.

Public Attributes
CImage	img_original
	This image will be automatically loaded from the file name passed to checkerBoardCameraCalibration.
CImage	img_checkboard
	At output, this will contain the detected checkerboard overprinted to the image.
CImage	img_rectified
	At output, this will be the rectified image.
std::vector < mrpt::utils::TPixelCoordf >	detected_corners
	At output, the detected corners (x,y) in pixel units.
mrpt::poses::CPose3D	reconstructed_camera_pose
	At output, the reconstructed pose of the camera.
std::vector< TPixelCoordf >	projectedPoints_distorted
	At output, only will have an empty vector if the checkerboard was not found in this image, or the predicted (reprojected) corners, which were used to estimate the average square error.
std::vector< TPixelCoordf >	projectedPoints_undistorted
	At output, like projectedPoints_distorted but for the undistorted image.

Member Function Documentation

void mrpt::vision::TImageCalibData::clear ( void  )

inline

Empty all the data.

Definition at line 61 of file chessboard_camera_calib.h.

Member Data Documentation

std::vector<mrpt::utils::TPixelCoordf> mrpt::vision::TImageCalibData::detected_corners

At output, the detected corners (x,y) in pixel units.

Definition at line 55 of file chessboard_camera_calib.h.

CImage mrpt::vision::TImageCalibData::img_checkboard

At output, this will contain the detected checkerboard overprinted to the image.

Definition at line 53 of file chessboard_camera_calib.h.

CImage mrpt::vision::TImageCalibData::img_original

This image will be automatically loaded from the file name passed to checkerBoardCameraCalibration.

Definition at line 52 of file chessboard_camera_calib.h.

CImage mrpt::vision::TImageCalibData::img_rectified

At output, this will be the rectified image.

Definition at line 54 of file chessboard_camera_calib.h.

std::vector<TPixelCoordf> mrpt::vision::TImageCalibData::projectedPoints_distorted

At output, only will have an empty vector if the checkerboard was not found in this image, or the predicted (reprojected) corners, which were used to estimate the average square error.

Definition at line 57 of file chessboard_camera_calib.h.

std::vector<TPixelCoordf> mrpt::vision::TImageCalibData::projectedPoints_undistorted

At output, like projectedPoints_distorted but for the undistorted image.

Definition at line 58 of file chessboard_camera_calib.h.

mrpt::poses::CPose3D mrpt::vision::TImageCalibData::reconstructed_camera_pose

At output, the reconstructed pose of the camera.

Definition at line 56 of file chessboard_camera_calib.h.