Class to calibrate input image based on camera's internal parameters
Configuration: See PinholeCalibTool::configure.
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#include <PinholeCalibTool.h>
Inheritance diagram for PinholeCalibTool:
Public Member Functions | |
| PinholeCalibTool () | |
| virtual | ~PinholeCalibTool () |
| virtual bool | open (yarp::os::Searchable &config) |
| open() passes on to configure() | |
| virtual bool | close () |
| virtual bool | configure (yarp::os::Searchable &config) |
| The PinholeCalibTool expects a configuration file as show below. | |
| void | stopConfig (std::string val) |
| Stop module if there is a wrong value. | |
| void | apply (const yarp::sig::ImageOf< yarp::sig::PixelRgb > &in, yarp::sig::ImageOf< yarp::sig::PixelRgb > &out) |
| Apply calibration, in = rgb image, out = calibrated rgb image. | |
| PinholeCalibTool () | |
| virtual | ~PinholeCalibTool () |
| virtual bool | open (yarp::os::Searchable &config) |
| open() passes on to configure() | |
| virtual bool | close () |
| virtual bool | configure (yarp::os::Searchable &config) |
| The PinholeCalibTool expects a configuration file as show below. | |
| void | stopConfig (std::string val) |
| Stop module if there is a wrong value. | |
| void | apply (const yarp::sig::ImageOf< yarp::sig::PixelRgb > &in, yarp::sig::ImageOf< yarp::sig::PixelRgb > &out) |
| Apply calibration, in = rgb image, out = calibrated rgb image. | |
| PinholeCalibTool () | |
| virtual | ~PinholeCalibTool () |
| virtual bool | open (yarp::os::Searchable &config) |
| open() passes on to configure() | |
| virtual bool | close () |
| virtual bool | configure (yarp::os::Searchable &config) |
| The PinholeCalibTool expects a configuration file as show below. | |
| void | stopConfig (std::string val) |
| Stop module if there is a wrong value. | |
| void | apply (const yarp::sig::ImageOf< yarp::sig::PixelRgb > &in, yarp::sig::ImageOf< yarp::sig::PixelRgb > &out) |
| Apply calibration, in = rgb image, out = calibrated rgb image. | |
Detailed Description
Class to calibrate input image based on camera's internal parameters
Configuration: See PinholeCalibTool::configure.
Definition at line 38 of file PinholeCalibTool.h.
Constructor & Destructor Documentation
◆ PinholeCalibTool() [1/3]
| PinholeCalibTool::PinholeCalibTool | ( | ) |
Definition at line 16 of file PinholeCalibTool.cpp.
◆ ~PinholeCalibTool() [1/3]
|
virtual |
Definition at line 27 of file PinholeCalibTool.cpp.
◆ PinholeCalibTool() [2/3]
| PinholeCalibTool::PinholeCalibTool | ( | ) |
◆ ~PinholeCalibTool() [2/3]
|
virtual |
◆ PinholeCalibTool() [3/3]
| PinholeCalibTool::PinholeCalibTool | ( | ) |
◆ ~PinholeCalibTool() [3/3]
|
virtual |
Member Function Documentation
◆ apply() [1/3]
|
virtual |
Apply calibration, in = rgb image, out = calibrated rgb image.
If necessary the output image is resized to match the size of the input image.
Implements ICalibTool.
◆ apply() [2/3]
|
virtual |
Apply calibration, in = rgb image, out = calibrated rgb image.
If necessary the output image is resized to match the size of the input image.
Implements ICalibTool.
◆ apply() [3/3]
|
virtual |
Apply calibration, in = rgb image, out = calibrated rgb image.
If necessary the output image is resized to match the size of the input image.
Implements ICalibTool.
◆ close() [1/3]
|
virtual |
Implements ICalibTool.
Definition at line 31 of file PinholeCalibTool.cpp.
◆ close() [2/3]
|
virtual |
Implements ICalibTool.
◆ close() [3/3]
|
virtual |
Implements ICalibTool.
◆ configure() [1/3]
|
virtual |
The PinholeCalibTool expects a configuration file as show below.
The calibration parameters for a specific camera setup can be extracted easily by using the camcalibconf module.
fx, fy = focal length (Matlab toolbox: fc) (OpenCV fx, fy)
cx, cy = principal point (Matlab toolbox: cc) (OpenCV cx, cy)
k1, k2, p1, p2 = distortion (Matlab toolbox: First 4 components of vector kc (4th order only))
(OpenCV: k1, k2, p1, p2 where k's are radial and p's are tangential distortion coefficients. )
Example configuration for a specific camera setup with resolution 320 x 240:
[CAMERA_CALIBRATION]
projection pinhole
w 320
h 240
fx 325.42
fy 332.31
cx 177.29
cy 127.3
k1 -0.4153
k2 0.2467
p1 -0.00195
p2 0.00185
Implements ICalibTool.
◆ configure() [2/3]
|
virtual |
The PinholeCalibTool expects a configuration file as show below.
The calibration parameters for a specific camera setup can be extracted easily by using the camcalibconf module.
fx, fy = focal length (Matlab toolbox: fc) (OpenCV fx, fy)
cx, cy = principal point (Matlab toolbox: cc) (OpenCV cx, cy)
k1, k2, p1, p2 = distortion (Matlab toolbox: First 4 components of vector kc (4th order only))
(OpenCV: k1, k2, p1, p2 where k's are radial and p's are tangential distortion coefficients. )
Example configuration for a specific camera setup with resolution 320 x 240:
[CAMERA_CALIBRATION]
projection pinhole
w 320
h 240
fx 325.42
fy 332.31
cx 177.29
cy 127.3
k1 -0.4153
k2 0.2467
p1 -0.00195
p2 0.00185
Implements ICalibTool.
◆ configure() [3/3]
|
virtual |
The PinholeCalibTool expects a configuration file as show below.
The calibration parameters for a specific camera setup can be extracted easily by using the camcalibconf module.
fx, fy = focal length (Matlab toolbox: fc) (OpenCV fx, fy)
cx, cy = principal point (Matlab toolbox: cc) (OpenCV cx, cy)
k1, k2, p1, p2 = distortion (Matlab toolbox: First 4 components of vector kc (4th order only))
(OpenCV: k1, k2, p1, p2 where k's are radial and p's are tangential distortion coefficients. )
Example configuration for a specific camera setup with resolution 320 x 240:
[CAMERA_CALIBRATION]
projection pinhole
w 320
h 240
fx 325.42
fy 332.31
cx 177.29
cy 127.3
k1 -0.4153
k2 0.2467
p1 -0.00195
p2 0.00185
Implements ICalibTool.
◆ open() [1/3]
|
virtual |
open() passes on to configure()
Implements ICalibTool.
◆ open() [2/3]
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virtual |
open() passes on to configure()
Implements ICalibTool.
◆ open() [3/3]
|
virtual |
open() passes on to configure()
Implements ICalibTool.
◆ stopConfig() [1/3]
| void PinholeCalibTool::stopConfig | ( | std::string | val | ) |
Stop module if there is a wrong value.
Definition at line 48 of file PinholeCalibTool.cpp.
◆ stopConfig() [2/3]
| void PinholeCalibTool::stopConfig | ( | std::string | val | ) |
Stop module if there is a wrong value.
◆ stopConfig() [3/3]
| void PinholeCalibTool::stopConfig | ( | std::string | val | ) |
Stop module if there is a wrong value.
The documentation for this class was generated from the following files:
- icub-main/src/modules/camCalib/include/iCub/PinholeCalibTool.h
- icub-main/src/modules/camCalibWithPose/include/iCub/PinholeCalibTool.h
- icub-main/src/modules/dualCamCalib/include/iCub/PinholeCalibTool.h
- icub-main/src/modules/camCalib/src/PinholeCalibTool.cpp
- icub-main/src/modules/camCalibWithPose/src/PinholeCalibTool.cpp
- icub-main/src/modules/dualCamCalib/src/PinholeCalibTool.cpp
