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 Summary

Fields

Modifier and Type	Field	Description
final org.opencv.core.Size	calobjectSize
final double	calobjectSpacing
final double[]	calobjectWarp
final JsonMatOfDouble	cameraIntrinsics
final JsonMatOfDouble	distCoeffs
final CameraLensModel	lensmodel
final List<BoardObservation>	observations
final org.opencv.core.Size	unrotatedImageSize

Constructor Summary

Constructors

Constructor	Description
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.

Method Summary

Modifier and Type	Method	Description
UICameraCalibrationCoefficients	cloneWithoutObservations()
org.opencv.core.Mat	getCameraIntrinsicsMat()
double[]	getDistCoeffsArr()
org.opencv.core.MatOfDouble	getDistCoeffsMat()
double[]	getIntrinsicsArr()
List<BoardObservation>	getPerViewErrors()
void	release()
CameraCalibrationCoefficients	rotateCoefficients(ImageRotationMode rotation)
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

unrotatedImageSize

public final org.opencv.core.Size unrotatedImageSize

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

rotateCoefficients

public CameraCalibrationCoefficients rotateCoefficients(ImageRotationMode rotation)

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

toString

public String toString()

Overrides:

toString in class Object

cloneWithoutObservations

public UICameraCalibrationCoefficients cloneWithoutObservations()