[−][src]Struct opencv::ccalib::MultiCameraCalibration
Class for multiple camera calibration that supports pinhole camera and omnidirection camera. For omnidirectional camera model, please refer to omnidir.hpp in ccalib module. It first calibrate each camera individually, then a bundle adjustment like optimization is applied to refine extrinsic parameters. So far, it only support "random" pattern for calibration, see randomPattern.hpp in ccalib module for details. Images that are used should be named by "cameraIdx-timestamp.*", several images with the same timestamp means that they are the same pattern that are photographed. cameraIdx should start from 0.
For more details, please refer to paper B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System Calibration Toolbox Using A Feature Descriptor-Based Calibration Pattern", in IROS 2013.
Implementations
impl MultiCameraCalibration
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pub fn as_raw_MultiCameraCalibration(&self) -> *const c_void
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pub fn as_raw_mut_MultiCameraCalibration(&mut self) -> *mut c_void
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impl MultiCameraCalibration
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pub fn new(
camera_type: i32,
n_cameras: i32,
file_name: &str,
pattern_width: f32,
pattern_height: f32,
verbose: i32,
show_extration: i32,
n_mini_matches: i32,
flags: i32,
criteria: TermCriteria,
detector: Ptr<Feature2D>,
descriptor: Ptr<Feature2D>,
matcher: Ptr<dyn DescriptorMatcher>
) -> Result<MultiCameraCalibration>
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camera_type: i32,
n_cameras: i32,
file_name: &str,
pattern_width: f32,
pattern_height: f32,
verbose: i32,
show_extration: i32,
n_mini_matches: i32,
flags: i32,
criteria: TermCriteria,
detector: Ptr<Feature2D>,
descriptor: Ptr<Feature2D>,
matcher: Ptr<dyn DescriptorMatcher>
) -> Result<MultiCameraCalibration>
C++ default parameters
- verbose: 0
- show_extration: 0
- n_mini_matches: 20
- flags: 0
- criteria: TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,200,1e-7)
- detector: AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0,3,0.006f)
- descriptor: AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0,3,0.006f)
- matcher: DescriptorMatcher::create("BruteForce-L1")
Trait Implementations
impl Boxed for MultiCameraCalibration
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pub unsafe fn from_raw(ptr: *mut c_void) -> Self
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pub fn into_raw(self) -> *mut c_void
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pub fn as_raw(&self) -> *const c_void
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pub fn as_raw_mut(&mut self) -> *mut c_void
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impl Drop for MultiCameraCalibration
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impl MultiCameraCalibrationTrait for MultiCameraCalibration
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pub fn as_raw_MultiCameraCalibration(&self) -> *const c_void
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pub fn as_raw_mut_MultiCameraCalibration(&mut self) -> *mut c_void
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pub fn load_images(&mut self) -> Result<()>
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pub fn initialize(&mut self) -> Result<()>
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pub fn optimize_extrinsics(&mut self) -> Result<f64>
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pub fn run(&mut self) -> Result<f64>
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pub fn write_parameters(&mut self, filename: &str) -> Result<()>
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impl Send for MultiCameraCalibration
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Auto Trait Implementations
impl RefUnwindSafe for MultiCameraCalibration
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impl !Sync for MultiCameraCalibration
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impl Unpin for MultiCameraCalibration
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impl UnwindSafe for MultiCameraCalibration
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,