TStereoCamera.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/img/TCamera.h>
#include <mrpt/math/TPose3DQuat.h>

namespace mrpt::img
{
/** 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()
 *
 * \sa mrpt::vision, the application stereo-calib-gui for calibrating a stereo
 * camera
 */
class TStereoCamera : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(TStereoCamera, mrpt::img)
   public:
    /** Intrinsic and distortion parameters of the left and right cameras */
    TCamera leftCamera, rightCamera;
    /** Pose of the right camera with respect to the coordinate origin of the
     * left camera */
    mrpt::math::TPose3DQuat rightCameraPose;

    /**  Save all params to a plain text config file in this format:
     *  \code
     *  [<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]
     *
     *  \endcode
     *   Notice that 3 different sections are read, of which "section" is only
     * the prefix.
     */
    void saveToConfigFile(
        const std::string& section, mrpt::config::CConfigFileBase& cfg) const;

    /**  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.
     *  \exception std::exception on missing fields
     */
    void loadFromConfigFile(
        const std::string& section, const mrpt::config::CConfigFileBase& cfg);
    /** overload This signature is consistent with the rest of MRPT APIs */
    inline void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& cfg, const std::string& section)
    {
        loadFromConfigFile(section, cfg);
    }

    /** Dumps all the parameters as a multi-line string, with the same format
     * than \a saveToConfigFile.  \sa saveToConfigFile */
    std::string dumpAsText() const;

    /** Rescale all the parameters for a new camera resolution (it raises an
     * exception if the aspect ratio is modified, which is not permitted).
     */
    void scaleToResolution(unsigned int new_ncols, unsigned int new_nrows)
    {
        leftCamera.scaleToResolution(new_ncols, new_nrows);
        rightCamera.scaleToResolution(new_ncols, new_nrows);
    }

};  // end class TStereoCamera
}  // namespace mrpt::img