zcalib

README

zcalib

zhang calibration implementation written in Go

Documentation

Index

• func CrossProduct(a cv.Vecf, b cv.Vecf) cv.Vecf
• func CvMatToMat(m cv.Mat) (*mat.Dense, error)
• func DotProduct(a cv.Vecf, b cv.Vecf) float32
• func NewMatWithSizeNElem(rows int, cols int, mt cv.MatType, srcElems []float32) cv.Mat
• func RefineAll(imgVec []cv.Point2fVector, obj cv.Point2fVector, K cv.Mat, extrinsics []cv.Mat, ...) (cv.Mat, []cv.Mat, float32, float32)
• func SolveH(img cv.Point2fVector, obj cv.Point2fVector) cv.Mat
• type CalibResults
  • func Run(data Data) CalibResults
• type Data
• type Point2f
• type Point3f

Functions

func CrossProduct

func CrossProduct(a cv.Vecf, b cv.Vecf) cv.Vecf

func CvMatToMat

func CvMatToMat(m cv.Mat) (*mat.Dense, error)

func DotProduct

func DotProduct(a cv.Vecf, b cv.Vecf) float32

func NewMatWithSizeNElem

func NewMatWithSizeNElem(rows int, cols int, mt cv.MatType, srcElems []float32) cv.Mat

func RefineAll

func RefineAll(
	imgVec []cv.Point2fVector,
	obj cv.Point2fVector,
	K cv.Mat,
	extrinsics []cv.Mat,
	k1, k2 float32) (cv.Mat, []cv.Mat, float32, float32)

func SolveH

func SolveH(img cv.Point2fVector, obj cv.Point2fVector) cv.Mat

Types

type CalibResults

type CalibResults struct {
	Intrinsic  cv.Mat
	DistCoeffs []float32
	Homography []cv.Mat
	Extrinsics []cv.Mat
}

CalibResults is set of calibration matrices

func Run

func Run(data Data) CalibResults

type Data

type Data struct {
	// Board is general information of checkerboard
	Board struct {
		Count      int     `yaml:"count"`
		Row        int     `yaml:"row"`
		Column     int     `yaml:"column"`
		SquareSize float32 `yaml:"squareSize"`
		Width      float32 `yaml:"width"`
		Height     float32 `yaml:"height"`
	} `yaml:"board"`
	//Coordinates []cv.Point2fVector `yaml:"coordinates"`
	Coordinates [][]Point2f `yaml:"coordinates"`
}

type Point2f

type Point2f []float32 // for only saving yaml

type Point3f

type Point3f struct {
	X float32
	Y float32
	Z float32
}