mrpt::vision::TStereoCalibResults Struct Reference

Detailed Description

Output results for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 81 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

Constructor & Destructor Documentation

mrpt::vision::TStereoCalibResults::TStereoCalibResults

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Member Data Documentation

mrpt::utils::TStereoCamera mrpt::vision::TStereoCalibResults::cam_params

Recovered parameters of the stereo camera.

Definition at line 85 of file chessboard_stereo_camera_calib.h.

size_t mrpt::vision::TStereoCalibResults::final_iters

Final number of optimization iterations executed.

Definition at line 94 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 95 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 93 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 91 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 90 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 100 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 86 of file chessboard_stereo_camera_calib.h.

Eigen::Array<double,9,1> mrpt::vision::TStereoCalibResults::right_params_inv_variance

Definition at line 100 of file chessboard_stereo_camera_calib.h.