Zivid C++ API 2.9.0+4dbba385-1
Defining the Future of 3D Machine Vision
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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. More... | |
ZIVID_CORE_EXPORT bool | valid () const |
Test if MultiCameraOutput is valid. More... | |
ZIVID_CORE_EXPORT | operator bool () const |
Test if MultiCameraOutput is valid. More... | |
ZIVID_CORE_EXPORT const std::vector< Matrix4x4 > & | transforms () const |
Multi-camera calibration transforms. More... | |
ZIVID_CORE_EXPORT const std::vector< MultiCameraResidual > & | residuals () const |
Multi-camera calibration residuals. More... | |
ZIVID_CORE_EXPORT std::string | toString () const |
Get string representation of the multi-camera calibration output More... | |
The results from a multi-camera calibration process
ZIVID_CORE_EXPORT Zivid::Calibration::MultiCameraOutput::MultiCameraOutput | ( | const std::vector< Matrix4x4 > & | transforms, |
const std::vector< MultiCameraResidual > & | residuals | ||
) |
Constructs a MultiCameraOutput instance.
transforms | Vector of transforms for each camera. |
residuals | Vector of multi-camera residuals for each camera. |
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explicit |
Test if MultiCameraOutput is valid.
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.
ZIVID_CORE_EXPORT std::string Zivid::Calibration::MultiCameraOutput::toString | ( | ) | const |
Get string representation of the multi-camera calibration output
ZIVID_CORE_EXPORT const std::vector< Matrix4x4 > & Zivid::Calibration::MultiCameraOutput::transforms | ( | ) | const |
Multi-camera calibration transforms.
ZIVID_CORE_EXPORT bool Zivid::Calibration::MultiCameraOutput::valid | ( | ) | const |
Test if MultiCameraOutput is valid.