TStereoCamera.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef TStereoCamera_H
#define TStereoCamera_H

#include <mrpt/utils/TCamera.h>

namespace mrpt
{
namespace utils
{
/** 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::utils::CSerializable
{
        DEFINE_SERIALIZABLE(TStereoCamera)
   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::poses::CPose3DQuat rightCameraPose;

        // Default constructor:
        TStereoCamera();

        /**  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::utils::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::utils::CConfigFileBase& cfg);
        /** overload This signature is consistent with the rest of MRPT APIs */
        inline void loadFromConfigFile(
                const mrpt::utils::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
}  // End of namespace
}  // end of namespace
#endif