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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 TCamera::scaleToResolution()

See also:
mrpt::vision::CCamModel, the application camera-calib-gui for calibrating a camera

Definition at line 230 of file TCamera.h.

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TStereoCamera:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 TStereoCamera ()
void saveToConfigFile (const std::string &section, mrpt::utils::CConfigFileBase &cfg) const
 Save as a config block:
void loadFromConfigFile (const std::string &section, const mrpt::utils::CConfigFileBase &cfg)
 Load all the params from a config source, in the format used in saveToConfigFile(), that is:

Public Attributes

TStereoCameraModel model
TCamera leftCamera
TCamera rightCamera
CPose3DQuat rightCameraPose

RTTI stuff

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

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 232 of file TCamera.h.


Constructor & Destructor Documentation

mrpt::utils::TStereoCamera::TStereoCamera (  ) [inline]

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::utils::TStereoCamera::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

static TStereoCameraPtr mrpt::utils::TStereoCamera::Create (  ) [static]
static mrpt::utils::CObject* mrpt::utils::TStereoCamera::CreateObject (  ) [static]
virtual mrpt::utils::CObject* mrpt::utils::TStereoCamera::duplicate (  ) const [virtual]

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

Implements mrpt::utils::CObject.

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.

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

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

  [SECTION]
  resolution = [NCOLS NROWS]
  cx         = CX
  cy         = CY
  fx         = FX
  fy         = FY
  dist       = [K1 K2 T1 T2 K3]
  focal_length = FOCAL_LENGTH  [optional field]
Exceptions:
std::exceptionon missing fields
void mrpt::utils::TStereoCamera::saveToConfigFile ( const std::string &  section,
mrpt::utils::CConfigFileBase cfg 
) const

Save as a config block:

  [SECTION]
  resolution = [NCOLS NROWS]
  cx         = CX
  cy         = CY
  fx         = FX
  fy         = FY
  dist       = [K1 K2 T1 T2 K3]
  focal_length = FOCAL_LENGTH

Member Data Documentation

Definition at line 232 of file TCamera.h.

Definition at line 232 of file TCamera.h.

Definition at line 232 of file TCamera.h.

Definition at line 237 of file TCamera.h.

Definition at line 236 of file TCamera.h.

Definition at line 237 of file TCamera.h.

Definition at line 238 of file TCamera.h.




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