mrpt::utils::TStereoCamera Class Reference

Detailed Description

Structure to hold the parameters of a pinhole stereo camera model.

The parameters obtained for one camera resolution can be used for any other resolution by means of the method TStereoCamera::scaleToResolution()

See also

mrpt::vision, the application stereo-calib-gui for calibrating a stereo camera

Definition at line 25 of file TStereoCamera.h.

#include <mrpt/utils/TStereoCamera.h>

Inheritance diagram for mrpt::utils::TStereoCamera:

Public Member Functions
	TStereoCamera ()
void	saveToConfigFile (const std::string &section, mrpt::utils::CConfigFileBase &cfg) const
	Save all params to a plain text config file in this format:
void	loadFromConfigFile (const std::string &section, const mrpt::utils::CConfigFileBase &cfg)
	Load all the params from a config source, in the same format that used in saveToConfigFile().
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &section)
std::string	dumpAsText () const
	Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
void	scaleToResolution (unsigned int new_ncols, unsigned int new_nrows)
	Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).

Public Attributes
TCamera	leftCamera
TCamera	rightCamera
	Intrinsic and distortion parameters of the left and right cameras.
mrpt::poses::CPose3DQuat	rightCameraPose
	Pose of the right camera with respect to the coordinate origin of the left camera.

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
void	readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE

RTTI stuff <br>
typedef TStereoCameraPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_TStereoCamera
static mrpt::utils::TRuntimeClassId	classTStereoCamera
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const MRPT_OVERRIDE
virtual mrpt::utils::CObject *	duplicate () const MRPT_OVERRIDE
static mrpt::utils::CObject *	CreateObject ()
static TStereoCameraPtr	Create ()

Member Typedef Documentation

SmartPtr

typedef TStereoCameraPtr mrpt::utils::TStereoCamera::SmartPtr

A typedef for the associated smart pointer

Definition at line 27 of file TStereoCamera.h.

Constructor & Destructor Documentation

TStereoCamera()

mrpt::utils::TStereoCamera::TStereoCamera

(

)

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::utils::TStereoCamera::_GetBaseClass ( )

staticprotected

Create()

static TStereoCameraPtr mrpt::utils::TStereoCamera::Create ( )

static

CreateObject()

static mrpt::utils::CObject * mrpt::utils::TStereoCamera::CreateObject ( )

static

dumpAsText()

std::string mrpt::utils::TStereoCamera::dumpAsText

(

)

const

Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.

See also

saveToConfigFile

duplicate()

virtual mrpt::utils::CObject * mrpt::utils::TStereoCamera::duplicate ( ) const

virtual

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::utils::TStereoCamera::GetRuntimeClass ( ) const

virtual

loadFromConfigFile() [1/2]

void mrpt::utils::TStereoCamera::loadFromConfigFile ( const mrpt::utils::CConfigFileBase &  cfg, const std::string &  section  )

inline

Definition at line 67 of file TStereoCamera.h.

References loadFromConfigFile().

Referenced by loadFromConfigFile().

loadFromConfigFile() [2/2]

void mrpt::utils::TStereoCamera::loadFromConfigFile	(	const std::string &	section,
		const mrpt::utils::CConfigFileBase &	cfg
	)

Load all the params from a config source, in the same format that used in saveToConfigFile().

Notice that 3 different sections are read, of which "section" is only the prefix.

Exceptions

std::exception

on missing fields

readFromStream()

void mrpt::utils::TStereoCamera::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protected

saveToConfigFile()

void mrpt::utils::TStereoCamera::saveToConfigFile	(	const std::string &	section,
		mrpt::utils::CConfigFileBase &	cfg
	)		const

Save all params to a plain text config file in this format:

[<SECTION>_LEFT]
resolution = [NCOLS NROWS]
cx         = CX
cy         = CY
fx         = FX
fy         = FY
dist       = [K1 K2 T1 T2 K3]
 
[<SECTION>_RIGHT]
resolution = [NCOLS NROWS]
cx         = CX
cy         = CY
fx         = FX
fy         = FY
dist       = [K1 K2 T1 T2 K3]
 
[<SECTION>_LEFT2RIGHT_POSE]
pose_quaternion = [x y z qr qx qy qz]

Notice that 3 different sections are read, of which "section" is only the prefix.

scaleToResolution()

void mrpt::utils::TStereoCamera::scaleToResolution ( unsigned int  new_ncols, unsigned int  new_nrows  )

inline

Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).

Definition at line 74 of file TStereoCamera.h.

References mrpt::utils::TCamera::scaleToResolution().

writeToStream()

void mrpt::utils::TStereoCamera::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protected

Member Data Documentation

_init_TStereoCamera

mrpt::utils::CLASSINIT mrpt::utils::TStereoCamera::_init_TStereoCamera

staticprotected

Definition at line 27 of file TStereoCamera.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::utils::TStereoCamera::classinfo

static

Definition at line 27 of file TStereoCamera.h.

classTStereoCamera

mrpt::utils::TRuntimeClassId mrpt::utils::TStereoCamera::classTStereoCamera

static

Definition at line 27 of file TStereoCamera.h.

leftCamera

TCamera mrpt::utils::TStereoCamera::leftCamera

Definition at line 29 of file TStereoCamera.h.

rightCamera

TCamera mrpt::utils::TStereoCamera::rightCamera

Intrinsic and distortion parameters of the left and right cameras.

Definition at line 29 of file TStereoCamera.h.

rightCameraPose

mrpt::poses::CPose3DQuat mrpt::utils::TStereoCamera::rightCameraPose

Pose of the right camera with respect to the coordinate origin of the left camera.

Definition at line 30 of file TStereoCamera.h.