public class CalibrateStereoPlanar
extends java.lang.Object
Given a sequence of observations from a stereo camera compute the intrinsic calibration of each camera and the extrinsic calibration between the two cameras. A Planar calibration grid is used, which must be completely visible in all images.
Calibration is performed by first independently determining the intrinsic parameters of each camera as well as their extrinsic parameters relative to the calibration grid. Then the extrinsic parameters between the two cameras is found by creating two point clouds composed of the calibration points in each camera's view. Then the rigid body motion is found which transforms one point cloud into the other.
See comments in CalibrateMonoPlanar about when the y-axis should be inverted.
| Constructor and Description |
|---|
CalibrateStereoPlanar(DetectorFiducialCalibration detector)
Configures stereo calibration
|
| Modifier and Type | Method and Description |
|---|---|
boolean |
addPair(boofcv.struct.image.GrayF32 left,
boofcv.struct.image.GrayF32 right)
Adds a pair of images that observed the same target.
|
void |
configure(boolean assumeZeroSkew,
int numRadialParam,
boolean includeTangential)
Specify calibration assumptions.
|
CalibrateMonoPlanar |
getCalibLeft() |
CalibrateMonoPlanar |
getCalibRight() |
void |
printStatistics() |
boofcv.struct.calib.StereoParameters |
process()
Compute stereo calibration parameters
|
void |
reset()
Puts the class into its initial state.
|
public CalibrateStereoPlanar(DetectorFiducialCalibration detector)
detector - Target detection algorithm.public void reset()
public void configure(boolean assumeZeroSkew,
int numRadialParam,
boolean includeTangential)
assumeZeroSkew - If true zero skew is assumed.numRadialParam - Number of radial parametersincludeTangential - If true it will estimate tangential distortion parameters.public boolean addPair(boofcv.struct.image.GrayF32 left,
boofcv.struct.image.GrayF32 right)
left - Image of left target.right - Image of right target.public boofcv.struct.calib.StereoParameters process()
public CalibrateMonoPlanar getCalibLeft()
public CalibrateMonoPlanar getCalibRight()
public void printStatistics()