CalibrationResult Class Reference

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

Inheritance diagram for CalibrationResult:

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

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

~CalibrationResult()

~CalibrationResult ( )

inlineoverride

Since

ids_peak_icv 1.1

CalibrationResult() [2/3]

CalibrationResult ( const CalibrationResult & other )

inline

Since

ids_peak_icv 1.1

CalibrationResult() [3/3]

CalibrationResult ( CalibrationResult && other )

inlinenoexcept

Since

ids_peak_icv 1.1

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

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.

Since

ids_peak_icv 1.1

GetViews()

std::vector< CalibrationView > GetViews ( ) const

inline

Returns a vector of CalibrationView objects.

The order of the returned CalibrationViews corresponds exactly to the order of images passed to CameraCalibration::Process().

Since

ids_peak_icv 1.1

operator CalibrationParameters()

operator CalibrationParameters ( ) const

inline

Implicitly converts a CalibrationResult into calibration parameters.

This operator calls CalibrationResult::GetCalibrationParameters() to extract the calibration parameters.

Since

ids_peak_icv 1.1

operator=() [1/2]

CalibrationResult & operator= ( CalibrationResult && other )

inlinenoexcept

Since

ids_peak_icv 1.1

operator=() [2/2]

CalibrationResult & operator= ( const CalibrationResult & other )

inline

Since

ids_peak_icv 1.1