CamParams
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struct CamParams
A struct containing the unique camera parameters for each camera connected to MAPLE.
Public Members
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std::string name
Camera name.
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int camera_id
Camera ID, the video number X in /dev/videoX.
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std::string camera_playback_file
If playing video back from a file, use this filepath.
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int rx
Camera resolution x.
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int ry
Camera resolution y.
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bool calibrate
Enable calibration mode on this camera. Use a 9x6 chessboard calibration target to calculate the camera intrinsic matrix (fx, fy, cx, cy) and the distortion coefficients. If values for fx, fy, cx, and cy are provided in the configuration file, use these as the initial guess for the camera intrinsic matrix during the calculation. Camera closes after calibration is complete.
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double fx
Focal length (in pixels) x. fx = pixels/mm & focalLengthMm.
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double fy
Focal length (in pixels) y. fy = pixels/mm & focalLengthMm.
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double cx
The center of the image in the x axis (in pixels).
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double cy
The center of the image in the y axis (in pixels).
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std::vector<double> dist_coeffs
The distortion coefficients k1, k2, p1, p2, k3.
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float fps
Desired FPS.
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int exposure
Exposure. Range varies per camera.
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float quad_decimate = 2.0
Decimate input image by this factor.
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float quad_sigma = 0.0
Apply low-pass blur with this sigma value.
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int nthreads = 1
Use this many CPU threads for Apriltag detection
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bool debug = false
Enable Apriltag library debugging output (slow)
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bool refine_edges = true
Spend more time trying to align edges of tags.
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std::string name