Package org.photonvision.vision.calibration

Class CameraCalibrationCoefficients

java.lang.Object
org.photonvision.vision.calibration.CameraCalibrationCoefficients
All Implemented Interfaces:
Releasable
Direct Known Subclasses:
UICameraCalibrationCoefficients
public class CameraCalibrationCoefficients extends Object implements Releasable

  • Field Details

    • resolution

      public final org.opencv.core.Size resolution

    • cameraIntrinsics

      public final JsonMatOfDouble cameraIntrinsics

    • distCoeffs

      public final JsonMatOfDouble distCoeffs

    • observations

      public final List<BoardObservation> observations

    • calobjectWarp

      public final double[] calobjectWarp

    • calobjectSize

      public final org.opencv.core.Size calobjectSize

    • calobjectSpacing

      public final double calobjectSpacing

    • lensmodel

      public final CameraLensModel lensmodel

  • Constructor Details

    • CameraCalibrationCoefficients

      public CameraCalibrationCoefficients(org.opencv.core.Size resolution, JsonMatOfDouble cameraIntrinsics, JsonMatOfDouble distCoeffs, double[] calobjectWarp, List<BoardObservation> observations, org.opencv.core.Size calobjectSize, double calobjectSpacing, CameraLensModel lensmodel)
      Contains all camera calibration data for a particular resolution of a camera. Designed for use with standard opencv camera calibration matrices. For details on the layout of camera intrinsics/distortion matrices, see: https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d
      Parameters:
      resolution - The resolution this applies to. We don't assume camera binning or try rescaling calibration
      cameraIntrinsics - Camera intrinsics parameters matrix, in the standard opencv form.
      distCoeffs - Camera distortion coefficients array. Variable length depending on order of distortion model
      calobjectWarp - Board deformation parameters, for calibrators that can estimate that. See: https://mrcal.secretsauce.net/formulation.html#board-deformation
      observations - List of snapshots used to construct this calibration
      calobjectSize - Dimensions of the object used to calibrate, in # of squares in width/height
      calobjectSpacing - Spacing between adjacent squares, in meters

  • Method Details

    • getCameraIntrinsicsMat

      public org.opencv.core.Mat getCameraIntrinsicsMat()

    • getDistCoeffsMat

      public org.opencv.core.MatOfDouble getDistCoeffsMat()

    • getIntrinsicsArr

      public double[] getIntrinsicsArr()

    • getDistCoeffsArr

      public double[] getDistCoeffsArr()

    • getPerViewErrors

      public List<BoardObservation> getPerViewErrors()

    • release

      public void release()
      Specified by:
      release in interface Releasable

    • parseFromCalibdbJson

      public static CameraCalibrationCoefficients parseFromCalibdbJson(com.fasterxml.jackson.databind.JsonNode json)

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • cloneWithoutObservations

      public UICameraCalibrationCoefficients cloneWithoutObservations()