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TStereoCamera.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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4  | http://www.mrpt.org/ |
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6  | Copyright (C) 2005-2012 University of Malaga |
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8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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12  | This file is part of the MRPT project. |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef TStereoCamera_H
29 #define TStereoCamera_H
30 
31 #include <mrpt/utils/TCamera.h>
32 
33 namespace mrpt
34 {
35  namespace utils
36  {
37  using namespace mrpt::math;
38  using namespace mrpt::poses;
39 
40  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( TStereoCamera, mrpt::utils::CSerializable )
41 
42  /** Structure to hold the parameters of a pinhole stereo camera model.
43  * The parameters obtained for one camera resolution can be used for any other resolution by means of the method TStereoCamera::scaleToResolution()
44  *
45  * \sa mrpt::vision, the application stereo-calib-gui for calibrating a stereo camera
46  */
47  class BASE_IMPEXP TStereoCamera : public mrpt::utils::CSerializable
48  {
49  DEFINE_SERIALIZABLE( TStereoCamera )
50  public:
51  TCamera leftCamera, rightCamera; //!< Intrinsic and distortion parameters of the left and right cameras
52  CPose3DQuat rightCameraPose; //!< Pose of the right camera with respect to the coordinate origin of the left camera
53 
54  // Default constructor:
55  TStereoCamera();
56 
57  /** Save all params to a plain text config file in this format:
58  * \code
59  * [<SECTION>_LEFT]
60  * resolution = [NCOLS NROWS]
61  * cx = CX
62  * cy = CY
63  * fx = FX
64  * fy = FY
65  * dist = [K1 K2 T1 T2 K3]
66  *
67  * [<SECTION>_RIGHT]
68  * resolution = [NCOLS NROWS]
69  * cx = CX
70  * cy = CY
71  * fx = FX
72  * fy = FY
73  * dist = [K1 K2 T1 T2 K3]
74  *
75  * [<SECTION>_LEFT2RIGHT_POSE]
76  * pose_quaternion = [x y z qr qx qy qz]
77  *
78  * \endcode
79  * Notice that 3 different sections are read, of which "section" is only the prefix.
80  */
81  void saveToConfigFile( const std::string &section, mrpt::utils::CConfigFileBase &cfg ) const;
82 
83  /** Load all the params from a config source, in the same format that used in saveToConfigFile().
84  * Notice that 3 different sections are read, of which "section" is only the prefix.
85  * \exception std::exception on missing fields
86  */
87  void loadFromConfigFile(const std::string &section, const mrpt::utils::CConfigFileBase &cfg );
88 
89  /** Dumps all the parameters as a multi-line string, with the same format than \a saveToConfigFile. \sa saveToConfigFile */
90  std::string dumpAsText() const;
91 
92  /** Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).
93  */
94  void scaleToResolution(unsigned int new_ncols, unsigned int new_nrows)
95  {
96  leftCamera.scaleToResolution(new_ncols,new_nrows);
97  rightCamera.scaleToResolution(new_ncols,new_nrows);
98  }
99 
100  }; // end class TStereoCamera
101 
102  } // End of namespace
103 } // end of namespace
104 #endif


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