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 47 of file TStereoCamera.h.

#include <mrpt/utils/TStereoCamera.h>

Inheritance diagram for mrpt::utils::TStereoCamera:

[legend]

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().

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).

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
TCamera	leftCamera

TCamera	rightCamera
	Intrinsic and distortion parameters of the left and right cameras.

CPose3DQuat	rightCameraPose
	Pose of the right camera with respect to the coordinate origin of the left camera.

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	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
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 49 of file TStereoCamera.h.

Constructor & Destructor Documentation

mrpt::utils::TStereoCamera::TStereoCamera ( )

Member Function Documentation

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

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

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

static

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

static

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

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

inlineinherited

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 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

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

protectedvirtual

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

Implements mrpt::utils::CSerializable.

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.

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 94 of file TStereoCamera.h.

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

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

protectedvirtual

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

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

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

staticprotected

Definition at line 49 of file TStereoCamera.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

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

static

Definition at line 49 of file TStereoCamera.h.

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

static

Definition at line 49 of file TStereoCamera.h.

TCamera mrpt::utils::TStereoCamera::leftCamera

Definition at line 51 of file TStereoCamera.h.

TCamera mrpt::utils::TStereoCamera::rightCamera

Intrinsic and distortion parameters of the left and right cameras.

Definition at line 51 of file TStereoCamera.h.

CPose3DQuat mrpt::utils::TStereoCamera::rightCameraPose

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

Definition at line 52 of file TStereoCamera.h.

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation