Package boofcv.struct.calib

Class MultiCameraCalibParams

java.lang.Object

boofcv.struct.calib.MultiCameraCalibParams

All Implemented Interfaces:

Serializable

public class MultiCameraCalibParams
extends Object
implements Serializable

Intrinsic and extrinsic calibration for a multi-camera calibration system. Extrinsics for each camera is in reference to a global reference frame that is typically camera 0, but not always. Each camera can have its own different camera model, but typically they will all be the same.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
final List<Se3_F64>	camerasToSensor	Extrinsics for each camera.
final List<CameraModel>	intrinsics	Intrinsic camera parameters and model for each camera.
static final long	serialVersionUID

Constructor Summary

Constructors

Constructor	Description
MultiCameraCalibParams()

Method Summary

Modifier and Type	Method	Description
Se3_F64	computeExtrinsics(int cam0, int cam1, @Nullable Se3_F64 cam0_to_cam1)	Returns the transform from cam0 to cam1 reference frame
double	getBaseline(int cam0, int cam1)	Returns the distance between two cameras
Se3_F64	getCameraToSensor(int index)
<Cam extends CameraModel> Cam	getIntrinsics(int index)
boolean	isIdentical_WARNING(MultiCameraCalibParams o)	Compares 'this' to the passed in parameters and returns true if they have identical values.
void	reset()
String	toString()	Print summary on a single line
String	toStringFormat()	Formatted to be easier to read

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

serialVersionUID

public static final long serialVersionUID

See Also:

• Constant Field Values

intrinsics

public final List<CameraModel> intrinsics

Intrinsic camera parameters and model for each camera.

camerasToSensor

public final List<Se3_F64> camerasToSensor

Extrinsics for each camera. Camera to the common sensor frame. Typically the common sensor frame is defined as camera[0], but not always.

Constructor Details

MultiCameraCalibParams

public MultiCameraCalibParams()

Method Details

reset

public void reset()

getIntrinsics

public <Cam extends CameraModel> Cam getIntrinsics(int index)

getCameraToSensor

public Se3_F64 getCameraToSensor(int index)

getBaseline

public double getBaseline(int cam0,
 int cam1)

Returns the distance between two cameras

computeExtrinsics

public Se3_F64 computeExtrinsics(int cam0,
 int cam1,
 @Nullable
 @Nullable Se3_F64 cam0_to_cam1)

Returns the transform from cam0 to cam1 reference frame

Parameters:

cam0 - Index of camera 0

cam1 - Index of camera 1

cam0_to_cam1 - (Output) Storage for transform from cam[0] to cam[1]. Can be null.

Returns:

The transform.

isIdentical_WARNING

public boolean isIdentical_WARNING(MultiCameraCalibParams o)

Compares 'this' to the passed in parameters and returns true if they have identical values. This function is only partially implemented because all the camera models don't implement isIdentical() yet.

toStringFormat

public String toStringFormat()

Formatted to be easier to read

toString

public String toString()

Print summary on a single line

Overrides:

toString in class Object