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 25 of file TStereoCamera.h.

#include <mrpt/utils/TStereoCamera.h>

Inheritance diagram for mrpt::utils::TStereoCamera:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	TStereoCamera ()

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

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(). More...

void	loadFromConfigFile (const mrpt::utils::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
mrpt::utils::CObject::Ptr	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). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

TCamera	rightCamera

mrpt::poses::CPose3DQuat	rightCameraPose
	Pose of the right camera with respect to the coordinate origin of the left camera. More...

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

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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. More...

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

using	ConstPtr = std::shared_ptr< const TStereoCamera >

static mrpt::utils::CLASSINIT	_init_TStereoCamera

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "TStereoCamera"

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

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

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

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

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

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

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 27 of file TStereoCamera.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 27 of file TStereoCamera.h.

Constructor & Destructor Documentation

◆ TStereoCamera()

TStereoCamera::TStereoCamera ( )

Definition at line 23 of file TStereoCamera.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 27 of file TStereoCamera.h.

◆ CreateObject()

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

static

◆ 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 100 of file TStereoCamera.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::utils::TStereoCamera::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::utils::TStereoCamera::GetRuntimeClassIdStatic ( )

static

◆ loadFromConfigFile() [1/2]

void 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().

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 50 of file TStereoCamera.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadFromConfigFile() [2/2]

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

inline

overload This signature is consistent with the rest of MRPT APIs

Definition at line 75 of file TStereoCamera.h.

References loadFromConfigFile().

Here is the call graph for this function:

◆ operator delete() [1/3]

void mrpt::utils::TStereoCamera::operator delete ( void * ptr )

inlinenoexcept

Definition at line 27 of file TStereoCamera.h.

◆ operator delete() [2/3]

void mrpt::utils::TStereoCamera::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 27 of file TStereoCamera.h.

◆ operator delete() [3/3]

void mrpt::utils::TStereoCamera::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 27 of file TStereoCamera.h.

◆ operator delete[]()

void mrpt::utils::TStereoCamera::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [1/3]

static void* mrpt::utils::TStereoCamera::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [2/3]

void* mrpt::utils::TStereoCamera::operator new ( size_t size )

inline

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [3/3]

void* mrpt::utils::TStereoCamera::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 27 of file TStereoCamera.h.

◆ operator new[]()

void* mrpt::utils::TStereoCamera::operator new[] ( size_t size )

inline

Definition at line 27 of file TStereoCamera.h.

◆ readFromStream()

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

overrideprotectedvirtual

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.

Definition at line 79 of file TStereoCamera.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ saveToConfigFile()

void TStereoCamera::saveToConfigFile	(	const std::string &	section,
		mrpt::utils::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 26 of file TStereoCamera.cpp.

References mrpt::utils::CConfigFileBase::write().

Here is the call graph for this function:

◆ scaleToResolution()

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 88 of file TStereoCamera.h.

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

Here is the call graph for this function:

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

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

overrideprotectedvirtual

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 nullptr, 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.

Definition at line 68 of file TStereoCamera.cpp.

Member Data Documentation

◆ _init_TStereoCamera

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

staticprotected

Definition at line 27 of file TStereoCamera.h.

◆ className

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

static

Definition at line 27 of file TStereoCamera.h.

◆ leftCamera

TCamera mrpt::utils::TStereoCamera::leftCamera

Intrinsic and distortion parameters of the left and right cameras.

Definition at line 30 of file TStereoCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::CStereoRectifyMap::getRectifiedLeftImageParams(), 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(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::CStereoRectifyMap::rectify_IPL(), scaleToResolution(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ rightCamera

TCamera mrpt::utils::TStereoCamera::rightCamera

Definition at line 30 of file TStereoCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::CStereoRectifyMap::getRectifiedRightImageParams(), 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(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ rightCameraPose

mrpt::poses::CPose3DQuat mrpt::utils::TStereoCamera::rightCameraPose

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

Definition at line 33 of file TStereoCamera.h.

Referenced by 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(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and mrpt::obs::CObservationStereoImages::setStereoCameraParams().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::utils::TStereoCamera::runtimeClassId

staticprotected

Definition at line 27 of file TStereoCamera.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TStereoCamera()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ dumpAsText()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadFromConfigFile() [1/2]

◆ loadFromConfigFile() [2/2]

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ saveToConfigFile()

◆ scaleToResolution()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_TStereoCamera

◆ className

◆ leftCamera

◆ rightCamera

◆ rightCameraPose

◆ runtimeClassId