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

Inheritance diagram for CalibrationView:

[legend]

Public Member Functions
	~CalibrationView () override

	CalibrationView (const CalibrationView &other)

	CalibrationView (CalibrationView &&other) noexcept

CalibrationView &	operator= (const CalibrationView &other)

CalibrationView &	operator= (CalibrationView &&other) noexcept

std::vector< ReprojectionError >	GetReprojectionErrors () const
	Provides the reprojection errors for every marker in the view.

ExtrinsicParameters	GetExtrinsicParameters () const
	Provides the extrinsic parameters for the view.

PolygonF	GetConvexHull () const
	Provides the convex hull of the found calibration plate in the view.

CoordinateSystem	GetCoordinateSystem () const
	Provides the calibration plate coordinate system projected into the image.

Detailed Description

Represents a single observation of a calibration plate in an image.

A CalibrationView encapsulates the data and results derived from a single image in which a calibration plate has been successfully detected. This includes the estimated camera pose (extrinsic parameters), the reprojection errors, the convex hull of detected markers, and the 2D projection of the plate's 3D coordinate system into the image plane.

Each instance corresponds to one image (or view) used during the calibration process and provides detailed insight into how well the model fits that observation.

Since: ids_peak_icv 1.1

Definition at line 47 of file peak_icv_calibration_view.hpp.

Constructor & Destructor Documentation

◆ ~CalibrationView()

~CalibrationView ( )

inlineoverride

Since: ids_peak_icv 1.1

Definition at line 168 of file peak_icv_calibration_view.hpp.

◆ CalibrationView() [1/2]

CalibrationView ( const CalibrationView & other )

inline

Since: ids_peak_icv 1.1

Definition at line 176 of file peak_icv_calibration_view.hpp.

◆ CalibrationView() [2/2]

CalibrationView ( CalibrationView && other )

inlinenoexcept

Since: ids_peak_icv 1.1

Definition at line 184 of file peak_icv_calibration_view.hpp.

Member Function Documentation

◆ GetConvexHull()

PolygonF GetConvexHull ( ) const

inline

Provides the convex hull of the found calibration plate in the view.

The convex hull is the smallest convex polygon that encloses all detected marker points from the calibration plate in the image.

Returns: The convex hull of the calibration plate, represented as a polygon.

Since: ids_peak_icv 1.1

Definition at line 281 of file peak_icv_calibration_view.hpp.

◆ GetCoordinateSystem()

CoordinateSystem GetCoordinateSystem ( ) const

inline

Provides the calibration plate coordinate system projected into the image.

The coordinate system is projected using the estimated camera parameters. It consists of an origin and three vectors representing the X, Y, and Z axes. These vectors describe the axes directions projected from 3D to 2D. Their lengths are twice the distance between neighboring markers on the calibration plate.

Returns: The projected coordinate system of the calibration plate.

Since: ids_peak_icv 1.1

Definition at line 293 of file peak_icv_calibration_view.hpp.

◆ GetExtrinsicParameters()

ExtrinsicParameters GetExtrinsicParameters ( ) const

inline

Provides the extrinsic parameters for the view.

The extrinsic parameters define the 3D transformation from the calibration plate's coordinate system into the camera's coordinate system. This includes both rotation and translation.

Returns: The extrinsic parameters of the calibration view.

Since: ids_peak_icv 1.1

Definition at line 271 of file peak_icv_calibration_view.hpp.

◆ GetReprojectionErrors()

std::vector< ReprojectionError > GetReprojectionErrors ( ) const

inline

Provides the reprojection errors for every marker in the view.

The reprojection errors are the distances (in pixels) between the detected marker points in the calibration image and the corresponding projected world points, computed using the estimated camera parameters.