#include <peak_icv/algorithms/calibration/peak_icv_calibration_result.hpp>

Inheritance diagram for CalibrationResult:

[legend]

Public Member Functions
	CalibrationResult (const std::string &filePath)
	Constructs a CalibrationResult instance by loading data from a JSON file.

	~CalibrationResult () override

	CalibrationResult (const CalibrationResult &other)

	CalibrationResult (CalibrationResult &&other) noexcept

CalibrationResult &	operator= (const CalibrationResult &other)

CalibrationResult &	operator= (CalibrationResult &&other) noexcept

double	GetMeanReprojectionError () const
	Retrieves the mean reprojection error from the calibration result.

std::vector< CalibrationView >	GetViews () const
	Returns a vector of `CalibrationView` objects.

CalibrationParameters	GetCalibrationParameters () const
	Extracts the calibration parameters from a calibration result.

	operator CalibrationParameters () const
	Implicitly converts a CalibrationResult into calibration parameters.

Detailed Description

Holds the results of a camera calibration.

The CalibrationResult class stores the intrinsic and extrinsic parameters, the mean reprojection error, and a collection of calibration views, each representing marker positions and corresponding reprojection errors in the image.

These results are typically produced by the CameraCalibration::Process() method.

Since: ids_peak_icv 1.1

Definition at line 44 of file peak_icv_calibration_result.hpp.

Constructor & Destructor Documentation

◆ CalibrationResult() [1/3]

CalibrationResult ( const std::string & filePath )

inlineexplicit

Constructs a CalibrationResult instance by loading data from a JSON file.

This constructor initializes the calibration result by parsing the given file, which contains intrinsic parameters, the mean reprojection error, and the calibration views.

Parameters

[in] filePath An existing file path to a calibration result JSON file.

Exceptions

IOException	If the given `filePath` does not exist, or the permissions are not sufficient to read it.
CorruptedException	If the file cannot be read.

Since: ids_peak_icv 1.1

Definition at line 245 of file peak_icv_calibration_result.hpp.

◆ ~CalibrationResult()

~CalibrationResult ( )

inlineoverride

Since: ids_peak_icv 1.1

Definition at line 237 of file peak_icv_calibration_result.hpp.

◆ CalibrationResult() [2/3]

CalibrationResult ( const CalibrationResult & other )

inline

Since: ids_peak_icv 1.1

Definition at line 185 of file peak_icv_calibration_result.hpp.

◆ CalibrationResult() [3/3]

CalibrationResult ( CalibrationResult && other )

inlinenoexcept

Since: ids_peak_icv 1.1

Definition at line 193 of file peak_icv_calibration_result.hpp.

Member Function Documentation

◆ GetCalibrationParameters()

CalibrationParameters GetCalibrationParameters ( ) const

inline

Extracts the calibration parameters from a calibration result.

This function extracts the calibration parameters required for image operations such as point cloud generation, image undistortion, and other calibration-dependent tasks. The extracted parameters include intrinsic parameters and, depending on the number of calibration views, extrinsic parameters.

Intrinsic parameters are always extracted from the calibration result.
If the calibration result contains exactly one calibration view, the extrinsic parameters are taken from that view.
If multiple calibration views are present (e.g., from a full camera calibration), the extrinsic parameters are set to the identity matrix.

To use extrinsic parameters from a specific calibration view rather than the identity matrix, retrieve the desired view using CalibrationResult::GetViews() and incorporate its parameters accordingly.

Since: ids_peak_icv 1.1

Definition at line 295 of file peak_icv_calibration_result.hpp.

◆ GetMeanReprojectionError()

double GetMeanReprojectionError ( ) const

inline

Retrieves the mean reprojection error from the calibration result.

The mean reprojection error is the root mean square of distances between the marker points detected from the calibration images and the projected world points, measured in pixels.