`CameraCalibrations.Calibration`

— Method`Calibration(files, n_corners, checker_size, extrinsic_index)`

Build a calibration object. `files`

are the image files of the checkerboard. `n_corners`

is a tuple of the number of corners in each of the sides of the checkerboard. `checker_size`

is the physical size of the checker (e.g. in cm). `with_distortion`

controls if radial lens distortion is included in the model or not.

`CameraCalibrations.Calibration`

— Method`c(i::RowCol, extrinsic)`

Convert the row column StaticArray `i`

to its real-world equivalent, `XYZ`

, for the extrinsic parameters from the `extrinsic`

image (given as an index or file name).

`CameraCalibrations.Calibration`

— Method`c(xyz::XYZ, extrinsic)`

Convert the x, y, z StaticArray `xyz`

to its pixel-coordinate equivalent, `RowCol`

for the extrinsic parameters from the `extrinsic`

image (given as an index or file name).

`CameraCalibrations.RowCol`

— Type`RowCol(row, col)`

An alias for a static vector of two, row and column, indicating a cartesian coordinate in an image/matrix.

`CameraCalibrations.XYZ`

— Type`XYZ(x, y, z)`

An alias for a static vector of three, x, y, and z, indicating a real-world coordinate. Note that `x`

is equivalent to the `column`

in `RowCol`

and the `y`

is equivalent to the `row`

.

`CameraCalibrations._detect_corners`

— Method`_detect_corners`

Wraps OpenCV function to auto-detect corners in an image.

`CameraCalibrations.calculate_errors`

— Function`calculate_errors(c)`

Calculate reprojection, projection, distance, and inverse errors for the calibration `c`

. `distance`

measures the mean error of the distance between all adjacent checkerboard corners from the expected `checker_size`

. `inverse`

measures the mean error of applying the calibration's transformation and its inverse `inverse_samples`

times.

`CameraCalibrations.fit_model`

— Method`fit_model`

Wraps OpenCV function to fit a camera model to given object and image points.

`CameraCalibrations.get_object_points`

— Method`get_object_points`

Produce the real-world locations of the corners of the checkerboard.

`CameraCalibrations.improve`

— Function`improve`

Identify all the images that had relatively high reprojection errors, and rerun the calibration without them. Include a maximum of `n`

images with the lowest reprojection error, or all the images with an error lower than `threshold`

.

`CameraCalibrations.inv_lens_distortion`

— Method`inv_lens_distortion`

Analytical inverse lens distortion for one radial coefficient.

`CameraCalibrations.lens_distortion`

— Method`lens_distortion`

Lens distortion for one radial coefficient.

`CameraCalibrations.plot`

— Method`plot`

Save to locally created directory `debug`

all the calibration's images after rectification. Blue crosses indicate detetcted corners, and red crosses indicate their rectificated real-world locations. Ideally, both crosses' centers are right on top of each other.

`CameraCalibrations.rectification`

— Method`rectification(c, extrinsic_index)`

Return a function that accepts an instance of `::RowCol`

and converts it to its real-world equivalent for the extrinsic parameters from the `extrinsic_index`

image, without its third dimension (which would be ≈ 0): an `xy`

coordinate.