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 23 of file TStereoCamera.h.

#include <mrpt/img/TStereoCamera.h>

Inheritance diagram for mrpt::img::TStereoCamera:

Public Member Functions
void	saveToConfigFile (const std::string &section, mrpt::config::CConfigFileBase &cfg) const
	Save all params to a plain text config file in this format: More...

void	loadFromConfigFile (const std::string &section, const mrpt::config::CConfigFileBase &cfg)
	Load all the params from a config source, in the same format that used in saveToConfigFile(). More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &cfg, const std::string &section)
	overload This signature is consistent with the rest of MRPT APIs More...

std::string	dumpAsText () const
	Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile. More...

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). More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
TCamera	leftCamera
	Intrinsic and distortion parameters of the left and right cameras. More...

TCamera	rightCamera

mrpt::math::TPose3DQuat	rightCameraPose
	Pose of the right camera with respect to the coordinate origin of the left camera. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::img ::TStereoCamera >

using	ConstPtr = std::shared_ptr< const mrpt::img ::TStereoCamera >

using	UniquePtr = std::unique_ptr< mrpt::img ::TStereoCamera >

using	ConstUniquePtr = std::unique_ptr< const mrpt::img ::TStereoCamera >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::img" "::" "TStereoCamera"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::img::TStereoCamera::ConstPtr = std::shared_ptr<const mrpt::img :: TStereoCamera >

Definition at line 25 of file TStereoCamera.h.

◆ ConstUniquePtr

using mrpt::img::TStereoCamera::ConstUniquePtr = std::unique_ptr<const mrpt::img :: TStereoCamera >

Definition at line 25 of file TStereoCamera.h.

◆ Ptr

using mrpt::img::TStereoCamera::Ptr = std::shared_ptr< mrpt::img :: TStereoCamera >

A type for the associated smart pointer

Definition at line 25 of file TStereoCamera.h.

◆ UniquePtr

using mrpt::img::TStereoCamera::UniquePtr = std::unique_ptr< mrpt::img :: TStereoCamera >

Definition at line 25 of file TStereoCamera.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::img::TStereoCamera::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::img::TStereoCamera::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::img::TStereoCamera::Create ( Args &&... args )

inlinestatic

Definition at line 25 of file TStereoCamera.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::img::TStereoCamera::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 25 of file TStereoCamera.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::img::TStereoCamera::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::img::TStereoCamera::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 25 of file TStereoCamera.h.

◆ dumpAsText()

std::string TStereoCamera::dumpAsText ( ) const

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

See also: saveToConfigFile

Definition at line 97 of file TStereoCamera.cpp.

References mrpt::config::CConfigFileMemory::getContent().

Referenced by mrpt::obs::CObservationStereoImages::getDescriptionAsText().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::img::TStereoCamera::getClassName ( )

inlinestatic

Definition at line 25 of file TStereoCamera.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::img::TStereoCamera::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::img::TStereoCamera::GetRuntimeClassIdStatic ( )

static

◆ loadFromConfigFile() [1/2]

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

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

Load all the params from a config source, in the format described in saveToConfigFile()

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

Exceptions

std::exception on missing fields

Definition at line 45 of file TStereoCamera.cpp.

References mrpt::config::CConfigFileBase::read_string().

Referenced by mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), loadFromConfigFile(), and mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom().

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◆ loadFromConfigFile() [2/2]

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

inline

overload This signature is consistent with the rest of MRPT APIs

Definition at line 70 of file TStereoCamera.h.

References loadFromConfigFile().

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◆ saveToConfigFile()

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

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

Save as a config block:

[<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.

Definition at line 24 of file TStereoCamera.cpp.

References saveToConfigFile().

Referenced by saveToConfigFile().

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◆ scaleToResolution()

void mrpt::img::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 83 of file TStereoCamera.h.

References leftCamera, rightCamera, and mrpt::img::TCamera::scaleToResolution().

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◆ serializeFrom() [1/2]

void TStereoCamera::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 68 of file TStereoCamera.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t TStereoCamera::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 61 of file TStereoCamera.cpp.

◆ serializeTo() [1/2]

void TStereoCamera::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 62 of file TStereoCamera.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::img::TStereoCamera::className = "mrpt::img" "::" "TStereoCamera"

static

Definition at line 25 of file TStereoCamera.h.

◆ leftCamera

TCamera mrpt::img::TStereoCamera::leftCamera

Intrinsic and distortion parameters of the left and right cameras.

Definition at line 28 of file TStereoCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), do_rectify(), mrpt::obs::CObservationStereoImages::getStereoCameraParams(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::vision::projectMatchedFeatures(), scaleToResolution(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ rightCamera

TCamera mrpt::img::TStereoCamera::rightCamera

Definition at line 28 of file TStereoCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::obs::CObservationStereoImages::getStereoCameraParams(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), scaleToResolution(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ rightCameraPose

mrpt::math::TPose3DQuat mrpt::img::TStereoCamera::rightCameraPose

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

Definition at line 31 of file TStereoCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::obs::CObservationStereoImages::getDescriptionAsText(), mrpt::obs::CObservationStereoImages::getStereoCameraParams(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_ext_params_from_yml(), mrpt::vision::projectMatchedFeatures(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::img::TStereoCamera::runtimeClassId

staticprotected

Definition at line 25 of file TStereoCamera.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ dumpAsText()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadFromConfigFile() [1/2]

◆ loadFromConfigFile() [2/2]

◆ saveToConfigFile()

◆ scaleToResolution()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ leftCamera

◆ rightCamera

◆ rightCameraPose

◆ runtimeClassId