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mrpt::utils::TStereoCamera Class Reference

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:
Inheritance graph

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 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)
 
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 mxArraywriteToMatlab () 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...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Public Attributes

TCamera leftCamera
 
TCamera rightCamera
 Intrinsic and distortion parameters of the left and right cameras. More...
 
mrpt::poses::CPose3DQuat rightCameraPose
 Pose of the right camera with respect to the coordinate origin of the left camera. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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 <br>

typedef TStereoCameraPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_TStereoCamera
 
static mrpt::utils::TRuntimeClassId classTStereoCamera
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static TStereoCameraPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

typedef TStereoCameraPtr mrpt::utils::TStereoCamera::SmartPtr

A typedef for the associated smart pointer

Definition at line 27 of file TStereoCamera.h.

Constructor & Destructor Documentation

◆ TStereoCamera()

mrpt::utils::TStereoCamera::TStereoCamera ( )

Member Function Documentation

◆ _GetBaseClass()

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

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

◆ Create()

static TStereoCameraPtr mrpt::utils::TStereoCamera::Create ( )
static

◆ CreateObject()

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

◆ dumpAsText()

std::string mrpt::utils::TStereoCamera::dumpAsText ( ) const

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

See also
saveToConfigFile

◆ duplicate()

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 136 of file CObject.h.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ loadFromConfigFile() [1/2]

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

Definition at line 67 of file TStereoCamera.h.

References loadFromConfigFile().

Referenced by loadFromConfigFile().

◆ loadFromConfigFile() [2/2]

void mrpt::utils::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().

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

Exceptions
std::exceptionon missing fields

◆ operator delete() [1/3]

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

Definition at line 27 of file TStereoCamera.h.

◆ operator delete() [2/3]

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

Definition at line 27 of file TStereoCamera.h.

◆ operator delete() [3/3]

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

Definition at line 27 of file TStereoCamera.h.

◆ operator delete[]()

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

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [1/3]

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

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [2/3]

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

Definition at line 27 of file TStereoCamera.h.

◆ operator new() [3/3]

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

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

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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ saveToConfigFile()

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

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

[<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.

◆ 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 74 of file TStereoCamera.h.

References mrpt::utils::TCamera::scaleToResolution().

◆ 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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

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

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
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_TStereoCamera

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

Definition at line 27 of file TStereoCamera.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::utils::TStereoCamera::classinfo
static

Definition at line 27 of file TStereoCamera.h.

◆ classTStereoCamera

mrpt::utils::TRuntimeClassId mrpt::utils::TStereoCamera::classTStereoCamera
static

Definition at line 27 of file TStereoCamera.h.

◆ leftCamera

TCamera mrpt::utils::TStereoCamera::leftCamera

Definition at line 29 of file TStereoCamera.h.

◆ rightCamera

TCamera mrpt::utils::TStereoCamera::rightCamera

Intrinsic and distortion parameters of the left and right cameras.

Definition at line 29 of file TStereoCamera.h.

◆ 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 30 of file TStereoCamera.h.




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