The results from a multi-camera calibration process. More...

#include <Zivid/Calibration/MultiCamera.h>

Public Member Functions
ZIVID_CORE_EXPORT	MultiCameraOutput (const std::vector< Matrix4x4 > &transforms, const std::vector< MultiCameraResidual > &residuals)
	Constructs a MultiCameraOutput instance.

ZIVID_CORE_EXPORT bool	valid () const
	Test if MultiCameraOutput is valid.

ZIVID_CORE_EXPORT	operator bool () const
	Test if MultiCameraOutput is valid.

ZIVID_CORE_EXPORT const std::vector< Matrix4x4 > &	transforms () const
	Multi-camera calibration transforms.

ZIVID_CORE_EXPORT const std::vector< MultiCameraResidual > &	residuals () const
	Multi-camera calibration residuals.

ZIVID_CORE_EXPORT std::string	toString () const
	Get string representation of the multi-camera calibration output.

Detailed Description

The results from a multi-camera calibration process.

Constructor & Destructor Documentation

◆ MultiCameraOutput()

ZIVID_CORE_EXPORT Zivid::Calibration::MultiCameraOutput::MultiCameraOutput	(	const std::vector< Matrix4x4 > &	transforms,
		const std::vector< MultiCameraResidual > &	residuals )

Constructs a MultiCameraOutput instance.

Parameters

transforms	Vector of transforms for each camera.
residuals	Vector of multi-camera residuals for each camera.

Member Function Documentation

◆ operator bool()

ZIVID_CORE_EXPORT Zivid::Calibration::MultiCameraOutput::operator bool ( ) const

explicit

Test if MultiCameraOutput is valid.

Returns: True if MultiCameraOutput is valid.

◆ residuals()

ZIVID_CORE_EXPORT const std::vector< MultiCameraResidual > & Zivid::Calibration::MultiCameraOutput::residuals ( ) const

Multi-camera calibration residuals.

The residuals provide a measure of the overlap error that can be expected when transforming point clouds to the coordinate system of the primary camera.

The residual for each camera is calculated by applying each transform to the corresponding feature points used in the calibration process. The points are then compared with the feature points of the primary camera, and the average error between the two is calculated. By definition the first residual will therefore always be zero.

Returns: Vector of multi-camera calibration residuals.

◆ toString()

ZIVID_CORE_EXPORT std::string Zivid::Calibration::MultiCameraOutput::toString ( ) const

Get string representation of the multi-camera calibration output.

Returns: Calibration output as string

◆ transforms()

ZIVID_CORE_EXPORT const std::vector< Matrix4x4 > & Zivid::Calibration::MultiCameraOutput::transforms ( ) const

Multi-camera calibration transforms.

Returns: Vector of affine transformations in the form of 4x4 matrices.

◆ valid()

ZIVID_CORE_EXPORT bool Zivid::Calibration::MultiCameraOutput::valid ( ) const