Struct MultiCameraCalibration 

pub struct MultiCameraCalibration { /* private fields */ }

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

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<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”)

pub fn new_def( camera_type: i32, n_cameras: i32, file_name: &str, pattern_width: f32, pattern_height: f32, ) -> Result<MultiCameraCalibration>

Note

This alternative version of [new] function uses the following default values for its arguments:

• 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

unsafe fn from_raw( ptr: <MultiCameraCalibration as OpenCVFromExtern>::ExternReceive, ) -> Self

Wrap the specified raw pointer

fn into_raw( self, ) -> <MultiCameraCalibration as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw( &self, ) -> <MultiCameraCalibration as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <MultiCameraCalibration as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl Debug for MultiCameraCalibration

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for MultiCameraCalibration

fn drop(&mut self)

Executes the destructor for this type.

impl MultiCameraCalibrationTrait for MultiCameraCalibration

fn as_raw_mut_MultiCameraCalibration(&mut self) -> *mut c_void

fn load_images(&mut self) -> Result<()>

fn initialize(&mut self) -> Result<()>

fn optimize_extrinsics(&mut self) -> Result<f64>

fn run(&mut self) -> Result<f64>

fn write_parameters(&mut self, filename: &str) -> Result<()>

impl MultiCameraCalibrationTraitConst for MultiCameraCalibration

fn as_raw_MultiCameraCalibration(&self) -> *const c_void

impl Send for MultiCameraCalibration