StereoCameraModel Class Reference

The Camera class defines a general interface to a stereo camera. A stereo camera consists of two cameras with the same intrinsic parameters, but with different extrinsic parameters. More...

#include <StereoCameraModel.hpp>

Inherits SensorModel.

Public Types
enum	CalibrationFormat { OPENCV }
	output calibration file format for SaveCalibration()
enum	FOVDirection { HORIZONTAL , VERTICAL }
	FOV direction.
typedef rw::core::Ptr< StereoCameraModel >	Ptr
	smart pointer type to this class
Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	StereoCameraModel (const std::string &name, double fov, double width, double height, const rw::math::Transform3D<> &TL, const rw::math::Transform3D<> &TR, rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &modelInfo="")
	constructor More...
virtual	~StereoCameraModel ()
	destructor
Image::Ptr	getLeftImage (const rw::kinematics::State &state)
	get left image
void	setLeftImage (Image::Ptr img, rw::kinematics::State &state)
	set left image
Image::Ptr	getRightImage (const rw::kinematics::State &state)
	get right image
void	setRightImage (Image::Ptr img, rw::kinematics::State &state)
	set right image
Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...
virtual	~SensorModel ()
	destructor
void	setName (const std::string &name)
	sets the name of this sensor More...
void	setDescription (const std::string &description)
	sets the description of this sensor More...
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...
virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	Sets the frame to which the sensor should be attached. More...
rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor
Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor
virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...
virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.
virtual void	unregister ()
	unregisters all state data of this stateless object
StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...
const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...
bool	isRegistered ()
	Check if object has registered its state. More...

Static Public Member Functions
static bool	SaveCalibration (const std::string &filename, double fov, double wx, double wy, const rw::math::Transform3D<> &TL, const rw::math::Transform3D<> &TR, FOVDirection direction=HORIZONTAL, CalibrationFormat format=OPENCV)
	utility function for saving a stereo calibration to a file More...
static void	WriteCalibration (std::ostream &os, double fov, double wx, double wy, const rw::math::Transform3D<> &T, const std::vector< double > &dist=std::vector< double >(4, 0.0), FOVDirection direction=HORIZONTAL, CalibrationFormat format=OPENCV)
	utility function for writing a camera calibration to a stream More...

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor
template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization
void	add (StateData *data)
	Add data. More...
void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.
std::vector< rw::core::Ptr< StateData > >	_datas
	Data.
StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

The Camera class defines a general interface to a stereo camera. A stereo camera consists of two cameras with the same intrinsic parameters, but with different extrinsic parameters.

Since ideal cameras are assumed, the intrinsics are given as a horizontal/vertical pixel resolution as well as a horizontal field of view (FOV).

The extrinsic parameters are given simply as two transformation matrices, which give the pose of the cameras relative some external frame.

Constructor & Destructor Documentation

StereoCameraModel()

StereoCameraModel	(	const std::string &	name,
		double	fov,
		double	width,
		double	height,
		const rw::math::Transform3D<> &	TL,
		const rw::math::Transform3D<> &	TR,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	modelInfo = ""
	)

constructor

Parameters

name	[in] name of sensor
fov	[in] horizontal field of view
width	[in] width of image
height	[in] height of image
TL	[in] transform from sensor frame to left camera frame
TR	[in] transform from sensor frame to right camera frame
frame	[in] sensor frame
modelInfo	[in] info string

Member Function Documentation

SaveCalibration()

static bool SaveCalibration ( const std::string &  filename, double  fov, double  wx, double  wy, const rw::math::Transform3D<> &  TL, const rw::math::Transform3D<> &  TR, FOVDirection  direction = HORIZONTAL, CalibrationFormat  format = OPENCV  )

static

utility function for saving a stereo calibration to a file

Parameters

filename	[in] file to save to
fov	[in] field of view (FOV) [rad]
wx	[in] horizontal pixels
wy	[in] vertical pixels
TL	[in] transformation of left camera frame
TR	[in] transformation of right camera frame
direction	[in] the direction of the specified FOV
format	[in] calibration file format to use

Returns

true if the file was successfully saved, false otherwise

WriteCalibration()

static void WriteCalibration ( std::ostream &  os, double  fov, double  wx, double  wy, const rw::math::Transform3D<> &  T, const std::vector< double > &  dist = std::vector< double >(4, 0.0), FOVDirection  direction = HORIZONTAL, CalibrationFormat  format = OPENCV  )

static

utility function for writing a camera calibration to a stream

Parameters

os	the stream to write to
fov	field of view (FOV) [rad]
wx	horizontal pixels
wy	vertical pixels
T	[in] transformation of the camera frame
dist	[in] distortion parameters
direction	[in] the direction of the specified FOV
format	[in] calibration file format to use

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The documentation for this class was generated from the following file:

• StereoCameraModel.hpp