 |
Zivid C++ API 2.9.0+4dbba385-1
Defining the Future of 3D Machine Vision
|
|
Zivid C++ API 2.9.0+4dbba385-1
Defining the Future of 3D Machine Vision
|
Classes | |
| class | AccuracyEstimate |
| A dimension accuracy estimate for a specific working volume More... | |
| class | CameraCorrection |
| An in-field correction that may be written to a camera More... | |
| class | CameraVerification |
| An assessment of the current dimension trueness of a camera at a specific location More... | |
| class | InfieldCorrectionInput |
| Container for input-data needed by in-field verification and correction functions More... | |
Enumerations | |
| enum class | InfieldCorrectionDetectionStatus { ok , unknownCalibrationObject , invalidCalibrationObject , detectionFailed , insufficientDataQuality , invalidCaptureMethod , invalidAlignment } |
Functions | |
| ZIVID_CORE_EXPORT CameraIntrinsics | intrinsics (const Camera &camera) |
| Intrinsic parameters of a given camera. More... | |
| ZIVID_CORE_EXPORT CameraIntrinsics | estimateIntrinsics (const Frame &frame) |
| Estimate camera intrinsics for a given frame. More... | |
| ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult | detectFeaturePoints (Zivid::Camera &camera) |
| Detects feature points from a calibration object More... | |
| ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult | detectFeaturePoints (const Zivid::Frame &frame) |
| Detects feature points in a captured Frame More... | |
| ZIVID_CORE_EXPORT Zivid::Frame | captureCalibrationBoard (Zivid::Camera &camera) |
| Capture the calibration board More... | |
| ZIVID_CORE_EXPORT std::ostream & | operator<< (std::ostream &stream, const InfieldCorrectionInput &input) |
| Serialize the value to a stream More... | |
| ZIVID_CORE_EXPORT std::ostream & | operator<< (std::ostream &stream, const CameraVerification &cameraVerification) |
| Serialize the value to a stream More... | |
| ZIVID_CORE_EXPORT std::ostream & | operator<< (std::ostream &stream, const AccuracyEstimate &accuracyEstimate) |
| Serialize the value to a stream More... | |
| ZIVID_CORE_EXPORT std::ostream & | operator<< (std::ostream &stream, const CameraCorrection &cameraCorrection) |
| Serialize the value to a stream More... | |
| ZIVID_CORE_EXPORT CameraVerification | verifyCamera (const InfieldCorrectionInput &input) |
| Verify the current camera trueness based on a single measurement More... | |
| ZIVID_CORE_EXPORT CameraCorrection | computeCameraCorrection (const std::vector< InfieldCorrectionInput > &dataset) |
| Calculate new in-field camera correction More... | |
| ZIVID_CORE_EXPORT void | writeCameraCorrection (Zivid::Camera &camera, const CameraCorrection &cameraCorrection) |
| Write the in-field correction on a camera More... | |
| ZIVID_CORE_EXPORT void | resetCameraCorrection (Zivid::Camera &camera) |
| Reset the in-field correction on a camera to factory settings More... | |
| ZIVID_CORE_EXPORT bool | hasCameraCorrection (const Zivid::Camera &camera) |
| Check if the camera has an in-field correction written to it More... | |
| ZIVID_CORE_EXPORT std::chrono::time_point< std::chrono::system_clock > | cameraCorrectionTimestamp (const Zivid::Camera &camera) |
| Get the time at which the camera's in-field correction was created More... | |
| ZIVID_CORE_EXPORT std::string | toString (InfieldCorrectionDetectionStatus status) |
| Get string representation of the status. More... | |
| ZIVID_CORE_EXPORT std::ostream & | operator<< (std::ostream &stream, const InfieldCorrectionDetectionStatus &status) |
| Serialize the value to a stream More... | |
|
strong |
| ZIVID_CORE_EXPORT std::chrono::time_point< std::chrono::system_clock > Zivid::Experimental::Calibration::cameraCorrectionTimestamp | ( | const Zivid::Camera & | camera | ) |
Get the time at which the camera's in-field correction was created
If hasCameraCorrection is false, the returned timestamp will default to beginning of epoch (Jan 1st 1970 UTC).
| camera | The camera to check |
| ZIVID_CORE_EXPORT Zivid::Frame Zivid::Experimental::Calibration::captureCalibrationBoard | ( | Zivid::Camera & | camera | ) |
Capture the calibration board
This method is used to capture an official Zivid calibration board, using settings that are optimized for the board. This method must be used to capture the Frame that is given as input to Zivid::Experimental::Calibration::detectFeaturePoints(const Zivid::Frame &frame). You can also use the Zivid::Experimental::Calibration::detectFeaturePoints(Zivid::Camera &camera) function directly, which under the hood will invoke captureCalibrationBoard for you.
To verify if you successfully captured the calibration board and found the feature points, invoke Zivid::Experimental::Calibration::detectFeaturePoints(const Zivid::Frame &frame) with the frame returned from this function, then invoke Zivid::Calibration::DetectionResult::valid() on the returned DetectionResult object.
For more information please visit Zivid help page.
| camera | Camera to be used to capture the calibration board |
| ZIVID_CORE_EXPORT CameraCorrection Zivid::Experimental::Calibration::computeCameraCorrection | ( | const std::vector< InfieldCorrectionInput > & | dataset | ) |
Calculate new in-field camera correction
The purpose of this function is to calculate a new in-field correction for a camera based on a series of calibration object captures taken at varying distances. This function will throw an exception if any of the provided InfieldCorrectionInput have valid()==false.
The quantity and range of data is up to the user, but generally a larger dataset will yield a more accurate and reliable correction. If all measurements were taken at approximately the same distance, the resulting correction will mainly be valid at those distances. If several measurements were taken at significantly different distances, the resulting correction will likely be more suitable for extrapolation to distances beyond where the dataset was collected.
The result of this process is a CameraCorrection object, which will contain information regarding the proposed working range and the accuracy that can be expected within the working range, if the correction is written to the camera. The correction may be written to the camera using writeCameraCorrection.
This function will throw an exception if the input data is extremely inconsistent/noisy.
| dataset | A sequence of in-field correction measurements. |
| ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult Zivid::Experimental::Calibration::detectFeaturePoints | ( | const Zivid::Frame & | frame | ) |
Detects feature points in a captured Frame
This method will throw an exception if the frame does not come from Zivid::Experimental::Calibration::captureCalibrationBoard(Zivid::Camera &camera).
| frame | Frame to be used to detect the feature points |
| ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult Zivid::Experimental::Calibration::detectFeaturePoints | ( | Zivid::Camera & | camera | ) |
Detects feature points from a calibration object
Using this version of the detectFeaturePoints function is necessary to ensure that the data quality is sufficient for use in in-field verification and correction.
The functionality is to be exclusively used in combination with Zivid verified checkerboards. For further information please visit Zivid help page.
| camera | Camera to be used to capture the calibration object |
| ZIVID_CORE_EXPORT CameraIntrinsics Zivid::Experimental::Calibration::estimateIntrinsics | ( | const Frame & | frame | ) |
Estimate camera intrinsics for a given frame.
The estimated parameters may be used to project 3D point cloud onto the corresponding 2D image.
This function is for advanced use cases. Otherwise, use intrinsics.
| frame | Reference to frame instance. |
| ZIVID_CORE_EXPORT bool Zivid::Experimental::Calibration::hasCameraCorrection | ( | const Zivid::Camera & | camera | ) |
Check if the camera has an in-field correction written to it
This is false if writeCameraCorrection has never been called using this camera. It will also be false after calling resetCameraCorrection.
| camera | The camera to check |
| ZIVID_CORE_EXPORT CameraIntrinsics Zivid::Experimental::Calibration::intrinsics | ( | const Camera & | camera | ) |
Intrinsic parameters of a given camera.
| camera | Reference to camera instance. |
| ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Calibration::operator<< | ( | std::ostream & | stream, |
| const AccuracyEstimate & | accuracyEstimate | ||
| ) |
Serialize the value to a stream
| ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Calibration::operator<< | ( | std::ostream & | stream, |
| const CameraCorrection & | cameraCorrection | ||
| ) |
Serialize the value to a stream
| ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Calibration::operator<< | ( | std::ostream & | stream, |
| const CameraVerification & | cameraVerification | ||
| ) |
Serialize the value to a stream
| ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Calibration::operator<< | ( | std::ostream & | stream, |
| const InfieldCorrectionDetectionStatus & | status | ||
| ) |
Serialize the value to a stream
| ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Calibration::operator<< | ( | std::ostream & | stream, |
| const InfieldCorrectionInput & | input | ||
| ) |
Serialize the value to a stream
| ZIVID_CORE_EXPORT void Zivid::Experimental::Calibration::resetCameraCorrection | ( | Zivid::Camera & | camera | ) |
Reset the in-field correction on a camera to factory settings
| camera | The camera to reset |
| ZIVID_CORE_EXPORT std::string Zivid::Experimental::Calibration::toString | ( | InfieldCorrectionDetectionStatus | status | ) |
Get string representation of the status.
| ZIVID_CORE_EXPORT CameraVerification Zivid::Experimental::Calibration::verifyCamera | ( | const InfieldCorrectionInput & | input | ) |
Verify the current camera trueness based on a single measurement
The purpose of this function is to allow quick assessment of the quality of the in-field correction on a camera (or the need for one if none exists already). This function will throw an exception if the provided InfieldCorrectionInput has valid()==false.
The return value of this function will give an indication of the dimension trueness at the location where the input data was captured. If the returned assessment indicates a trueness error that is above threshold for your application, consider using computeCameraCorrection in order to get an updated correction for the camera.
| input | A single in-field correction measurement. |
| ZIVID_CORE_EXPORT void Zivid::Experimental::Calibration::writeCameraCorrection | ( | Zivid::Camera & | camera, |
| const CameraCorrection & | cameraCorrection | ||
| ) |
Write the in-field correction on a camera
After calling this function, the given correction will automatically be used any time the capture function is called on this camera. The correction will be persisted on the camera even though the camera is power-cycled or connected to a different PC.
Beware that calling this will overwrite any existing correction present on the camera.
| camera | The camera to write the correction to |
| cameraCorrection | The camera correction to write |
1.9.3