cob_camera_calibration::calibrator::StereoCalibrator Class Reference

Inheritance diagram for cob_camera_calibration::calibrator::StereoCalibrator:

Public Member Functions
def	__init__
def	calibrate_stereo_camera
Public Attributes
	calibration_object
	calibration_object_detector
	folder
	image_prefix_left
	image_prefix_right
Private Member Functions
def	_rectify

Detailed Description

Calibrates a stereo camera pair with parallel cameras

Definition at line 213 of file calibrator.py.

Member Function Documentation

def cob_camera_calibration::calibrator::StereoCalibrator::__init__	(	self,
		calibration_object,
		calibration_object_detector,
		folder,
		image_prefix_left,
		image_prefix_right
	)

Initialize object

@param calibration_object: Calibration object to work with.
@type  calibration_object: must implement CalibrationObject interface

@param calibration_object_detector: Calibration object detector to work with. Must be compatible to CalibrationObject
@type  calibration_object_detector: must implement CalibrationObjectDetector interface  

@param folder: Folder from where the images are located
@type  folder: string

@param image_prefix_left: Prefix the left camera's image files which are loaded must have
@type  image_prefix_left: string

@param image_prefix_right: Prefix the right camera's image files which are loaded must have
@type  image_prefix_right: string

Definition at line 217 of file calibrator.py.

def cob_camera_calibration::calibrator::StereoCalibrator::_rectify	(	self,
		camera_matrix_l,
		dist_coeffs_l,
		camera_matrix_r,
		dist_coeffs_r,
		h,
		w,
		R,
		T,
		alpha
	)		`[private]`

Helper function, wraps cv2.cv.StereoRectify with cv2 input/output types
as this function is missing in new opencv python cv2 interface
    
see https://code.ros.org/trac/opencv/changeset/6843

Definition at line 332 of file calibrator.py.

def cob_camera_calibration::calibrator::StereoCalibrator::calibrate_stereo_camera	(	self,
		alpha = `0.0`
	)

Run stereo calibration

Returns calibration rms error (float), image height, width 
and camera_matrix, dist_coeffs, projection_matrix and rectification_matrix 
for right and left camera (as np.ndarray() type) as well as baseline R and T

@param alpha: Set zoom, alpha = 0.0 results in cropped image with all pixels valid in undistorted image, alpha = 1.0 preserves all pixels from original image
@type  alpha: float (0.0 < alpha < 1.0)

Definition at line 242 of file calibrator.py.