stereo_camera_model.cpp
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00001 #include "image_geometry/stereo_camera_model.h"
00002 
00003 namespace image_geometry {
00004 
00005 StereoCameraModel::StereoCameraModel()
00006   : Q_(4, 4, 0.0)
00007 {
00008   Q_(0,0) = Q_(1,1) = 1.0;
00009 }
00010 
00011 StereoCameraModel::StereoCameraModel(const StereoCameraModel& other)
00012   : left_(other.left_), right_(other.right_),
00013     Q_(4, 4, 0.0)
00014 {
00015   Q_(0,0) = Q_(1,1) = 1.0;
00016   if (other.initialized())
00017     updateQ();
00018 }
00019 
00020 StereoCameraModel& StereoCameraModel::operator=(const StereoCameraModel& other)
00021 {
00022   if (other.initialized())
00023     this->fromCameraInfo(other.left_.cameraInfo(), other.right_.cameraInfo());
00024   return *this;
00025 }
00026 
00027 bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo& left,
00028                                        const sensor_msgs::CameraInfo& right)
00029 {
00030   bool changed_left  = left_.fromCameraInfo(left);
00031   bool changed_right = right_.fromCameraInfo(right);
00032   bool changed = changed_left || changed_right;
00033 
00034   // Note: don't require identical time stamps to allow imperfectly synced stereo.
00035   assert( left_.tfFrame() == right_.tfFrame() );
00036   assert( left_.fx() == right_.fx() );
00037   assert( left_.fy() == right_.fy() );
00038   assert( left_.cy() == right_.cy() );
00039   // cx may differ for verged cameras
00040 
00041   if (changed)
00042     updateQ();
00043 
00044   return changed;
00045 }
00046 
00047 bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left,
00048                                        const sensor_msgs::CameraInfoConstPtr& right)
00049 {
00050   return fromCameraInfo(*left, *right);
00051 }
00052 
00053 void StereoCameraModel::updateQ()
00054 {
00055   // Update variable fields of reprojection matrix
00056   /*
00057     From Springer Handbook of Robotics, p. 524:
00058         [ Fx 0  Cx -FxTx ]
00059     P = [ 0  Fy Cy   0   ]
00060         [ 0  0  1    0   ]
00061 
00062         [ 1 0   0      -Cx      ]
00063     Q = [ 0 1   0      -Cy      ]
00064         [ 0 0   0       Fx      ]
00065         [ 0 0 -1/Tx (Cx-Cx')/Tx ]
00066     where primed parameters are from the left projection matrix, unprimed from the right.
00067 
00068     Disparity = x_left - x_right
00069    */
00070   double Tx = baseline();
00071   Q_(3,2) = 1.0 / Tx;
00072   Q_(0,3) = -right_.cx();
00073   Q_(1,3) = -right_.cy();
00074   Q_(2,3) = right_.fx();
00075   Q_(3,3) = (right_.cx() - left_.cx()) / Tx; // zero when disparities are pre-adjusted
00076 }
00077 
00078 void StereoCameraModel::projectDisparityTo3d(const cv::Point2d& left_uv_rect, float disparity,
00079                                              cv::Point3d& xyz) const
00080 {
00081   assert( initialized() );
00082 
00083   // Do the math inline:
00084   // [X Y Z W]^T = Q * [u v d 1]^T
00085   // Point = (X/W, Y/W, Z/W)
00086   // cv::perspectiveTransform could be used but with more overhead.
00087   double u = left_uv_rect.x, v = left_uv_rect.y;
00088   cv::Point3d XYZ(u + Q_(0,3), v + Q_(1,3), Q_(2,3));
00089   double W = Q_(3,2)*disparity + Q_(3,3);
00090   xyz = XYZ * (1.0/W);
00091 }
00092 
00093 const double StereoCameraModel::MISSING_Z = 10000.;
00094 
00095 void StereoCameraModel::projectDisparityImageTo3d(const cv::Mat& disparity, cv::Mat& point_cloud,
00096                                                   bool handleMissingValues) const
00097 {
00098   assert( initialized() );
00099 
00100   cv::reprojectImageTo3D(disparity, point_cloud, Q_, handleMissingValues);
00101 }
00102 
00103 } //namespace image_geometry


image_geometry
Author(s): Patrick Mihelich
autogenerated on Mon Oct 6 2014 08:38:13