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 TCamera::scaleToResolution()

See also:: mrpt::vision::CCamModel, the application camera-calib-gui for calibrating a camera

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TStereoCamera:

[legend]

List of all members.

Public Member Functions
	TStereoCamera ()
void	saveToConfigFile (const std::string &section, mrpt::utils::CConfigFileBase &cfg) const
	Save as a config block:
void	loadFromConfigFile (const std::string &section, const mrpt::utils::CConfigFileBase &cfg)
	Load all the params from a config source, in the format used in saveToConfigFile(), that is:
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Public Attributes
TStereoCameraModel	model
TCamera	leftCamera
TCamera	rightCamera
CPose3DQuat	rightCameraPose
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
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
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static TStereoCameraPtr	Create ()

Member Typedef Documentation

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

A typedef for the associated smart pointer

Definition at line 238 of file TCamera.h.

Constructor & Destructor Documentation

mrpt::utils::TStereoCamera::TStereoCamera ( ) [inline]

Definition at line 248 of file TCamera.h.

References mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, mrpt::utils::TCamera::setIntrinsicParamsFromValues(), mrpt::utils::TCamera::setDistortionParamsFromValues(), mrpt::utils::TCamera::focalLengthMeters, and mrpt::poses::CPose3DQuat.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::utils::TStereoCamera::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

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

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

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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

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

  [SECTION]
  resolution = [NCOLS NROWS]
  cx         = CX
  cy         = CY
  fx         = FX
  fy         = FY
  dist       = [K1 K2 T1 T2 K3]
  focal_length = FOCAL_LENGTH  [optional field]

Exceptions:

std::exception on missing fields

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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

Save as a config block:

  [SECTION]
  resolution = [NCOLS NROWS]
  cx         = CX
  cy         = CY
  fx         = FX
  fy         = FY
  dist       = [K1 K2 T1 T2 K3]
  focal_length = FOCAL_LENGTH

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer