Output results for mrpt::vision::checkerBoardStereoCalibration.
Definition at line 79 of file chessboard_stereo_camera_calib.h.
#include <mrpt/vision/chessboard_stereo_camera_calib.h>
Public Member Functions | |
TStereoCalibResults () | |
Public Attributes | |
mrpt::utils::TStereoCamera | cam_params |
Recovered parameters of the stereo camera. More... | |
mrpt::poses::CPose3D | right2left_camera_pose |
The pose of the left camera as seen from the right camera. More... | |
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. More... | |
std::vector< bool > | image_pair_was_used |
true if a checkerboard was correctly detected in both left/right images. false if it wasn't, so the image pair didn't make it to the optimization. More... | |
double | final_rmse |
Final reprojection square Root Mean Square Error (in pixels). More... | |
size_t | final_iters |
Final number of optimization iterations executed. More... | |
size_t | final_number_good_image_pairs |
Number of image pairs in which valid checkerboards were correctly detected. More... | |
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 cy k1 k2 k3 t1 t2]. More... | |
Eigen::Array< double, 9, 1 > | right_params_inv_variance |
mrpt::vision::TStereoCalibResults::TStereoCalibResults | ( | ) |
mrpt::utils::TStereoCamera mrpt::vision::TStereoCalibResults::cam_params |
Recovered parameters of the stereo camera.
Definition at line 83 of file chessboard_stereo_camera_calib.h.
size_t mrpt::vision::TStereoCalibResults::final_iters |
Final number of optimization iterations executed.
Definition at line 92 of file chessboard_stereo_camera_calib.h.
size_t mrpt::vision::TStereoCalibResults::final_number_good_image_pairs |
Number of image pairs in which valid checkerboards were correctly detected.
Definition at line 93 of file chessboard_stereo_camera_calib.h.
double mrpt::vision::TStereoCalibResults::final_rmse |
Final reprojection square Root Mean Square Error (in pixels).
Definition at line 91 of file chessboard_stereo_camera_calib.h.
std::vector<bool> mrpt::vision::TStereoCalibResults::image_pair_was_used |
true if a checkerboard was correctly detected in both left/right images. false if it wasn't, so the image pair didn't make it to the optimization.
Definition at line 89 of file chessboard_stereo_camera_calib.h.
mrpt::aligned_containers<mrpt::poses::CPose3D>::vector_t mrpt::vision::TStereoCalibResults::left_cam_poses |
Poses of the origin of coordinates of the pattern wrt the left camera (i.e.
the origin of coordinates, as seen from the different camera poses)
Definition at line 88 of file chessboard_stereo_camera_calib.h.
Eigen::Array<double,9,1> mrpt::vision::TStereoCalibResults::left_params_inv_variance |
The inverse variance (information/precision) of each of the 9 left/right camera parameters [fx fy cx cy k1 k2 k3 t1 t2].
Those not estimated as indicated in TStereoCalibParams will be zeros (i.e. an "infinite uncertainty")
Definition at line 98 of file chessboard_stereo_camera_calib.h.
mrpt::poses::CPose3D mrpt::vision::TStereoCalibResults::right2left_camera_pose |
The pose of the left camera as seen from the right camera.
Definition at line 84 of file chessboard_stereo_camera_calib.h.
Eigen::Array<double,9,1> mrpt::vision::TStereoCalibResults::right_params_inv_variance |
Definition at line 98 of file chessboard_stereo_camera_calib.h.
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