TStereoCamera.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/img/TCamera.h>
#include <mrpt/math/lightweight_geom_data.h>
 
namespace mrpt
{
namespace 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)
   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 img
}  // namespace mrpt