t_calibration_opencv.hpp File Reference

OpenCV calibration helpers. More...

#include "tracking/t_tracking.h"
#include <opencv2/opencv.hpp>
#include <sys/stat.h>

Include dependency graph for t_calibration_opencv.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	CameraCalibrationWrapper
	Essential calibration data wrapped for C++. More...
struct	StereoCameraCalibrationWrapper
	Essential stereo calibration data wrapped for C++. More...
struct	RemapPair
	An x,y pair of matrices for the remap() function. More...
struct	ViewRectification
	Rectification, rotation, projection data for a single view in a stereo pair. More...
struct	StereoRectificationMaps
	Rectification maps as well as transforms for a stereo camera. More...
class	NormalizedCoordsCache
	Provides cached, precomputed access to normalized image coordinates from original, distorted ones. More...

Functions
RemapPair	calibration_get_undistort_map (t_camera_calibration &calib, cv::InputArray rectify_transform_optional=cv::noArray(), cv::Mat new_camera_matrix_optional=cv::Mat())
	Prepare undistortion/normalization remap structures for a rectilinear or fisheye image. More...

Detailed Description

OpenCV calibration helpers.

Author

Pete Black pblac.nosp@m.k@co.nosp@m.llabo.nosp@m.ra.c.nosp@m.om

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Ryan Pavlik ryan..nosp@m.pavl.nosp@m.ik@co.nosp@m.llab.nosp@m.ora.c.nosp@m.om

Function Documentation

calibration_get_undistort_map()

RemapPair calibration_get_undistort_map	(	t_camera_calibration &	calib,
		cv::InputArray	rectify_transform_optional = cv::noArray(),
		cv::Mat	new_camera_matrix_optional = cv::Mat()
	)

Prepare undistortion/normalization remap structures for a rectilinear or fisheye image.

Parameters

calib	A single camera calibration structure.
rectify_transform_optional	A rectification transform to apply, if desired.
new_camera_matrix_optional	Unlike OpenCV, the default/empty matrix here uses the input camera matrix as your output camera matrix.

Todo:

Scale Our intrinsics if the frame size we request

References CameraCalibrationWrapper::distortion_fisheye_mat, CameraCalibrationWrapper::distortion_mat, xrt_size::h, t_camera_calibration::image_size_pixels, CameraCalibrationWrapper::intrinsics_mat, RemapPair::remap_x, RemapPair::remap_y, t_camera_calibration::use_fisheye, and xrt_size::w.

Referenced by StereoRectificationMaps::StereoRectificationMaps().