#include <StereoCameraModel.h>

Public Member Functions
double	baseline () const
float	computeDepth (float disparity) const
float	computeDisparity (float depth) const
float	computeDisparity (unsigned short depth) const
const cv::Mat &	E () const
const cv::Mat &	F () const
const std::string &	getLeftSuffix () const
const std::string &	getRightSuffix () const
void	initRectificationMap ()
bool	isRectificationMapInitialized ()
bool	isValidForProjection () const
bool	isValidForRectification () const
const CameraModel &	left () const
bool	load (const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true)
const Transform &	localTransform () const
const std::string &	name () const
const cv::Mat &	R () const
const CameraModel &	right () const
void	roi (const cv::Rect &roi)
bool	save (const std::string &directory, bool ignoreStereoTransform=true) const
bool	saveStereoTransform (const std::string &directory) const
void	scale (double scale)
void	setImageSize (const cv::Size &size)
void	setLocalTransform (const Transform &transform)
void	setName (const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")
	StereoCameraModel ()
	StereoCameraModel (const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform::getIdentity())
	StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())
	StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)
	StereoCameraModel (double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform::getIdentity(), const cv::Size &imageSize=cv::Size(0, 0))
	StereoCameraModel (const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform::getIdentity(), const cv::Size &imageSize=cv::Size(0, 0))
Transform	stereoTransform () const
const cv::Mat &	T () const
virtual	~StereoCameraModel ()
Private Attributes
cv::Mat	E_
cv::Mat	F_
CameraModel	left_
std::string	leftSuffix_
std::string	name_
cv::Mat	R_
CameraModel	right_
std::string	rightSuffix_
cv::Mat	T_

Detailed Description

Definition at line 35 of file StereoCameraModel.h.

Constructor & Destructor Documentation

rtabmap::StereoCameraModel::StereoCameraModel ( ) [inline]

Definition at line 38 of file StereoCameraModel.h.

rtabmap::StereoCameraModel::StereoCameraModel	(	const std::string &	name,
		const cv::Size &	imageSize1,
		const cv::Mat &	K1,
		const cv::Mat &	D1,
		const cv::Mat &	R1,
		const cv::Mat &	P1,
		const cv::Size &	imageSize2,
		const cv::Mat &	K2,
		const cv::Mat &	D2,
		const cv::Mat &	R2,
		const cv::Mat &	P2,
		const cv::Mat &	R,
		const cv::Mat &	T,
		const cv::Mat &	E,
		const cv::Mat &	F,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

Definition at line 37 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel	(	const std::string &	name,
		const CameraModel &	leftCameraModel,
		const CameraModel &	rightCameraModel,
		const cv::Mat &	R = `cv::Mat()`,
		const cv::Mat &	T = `cv::Mat()`,
		const cv::Mat &	E = `cv::Mat()`,
		const cv::Mat &	F = `cv::Mat()`
	)

Definition at line 61 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel	(	const std::string &	name,
		const CameraModel &	leftCameraModel,
		const CameraModel &	rightCameraModel,
		const Transform &	extrinsics
	)

Definition at line 101 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	baseline,
		const Transform &	localTransform = `Transform::getIdentity()`,
		const cv::Size &	imageSize = `cv::Size(0,0)`
	)

Definition at line 133 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel	(	const std::string &	name,
		double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	baseline,
		const Transform &	localTransform = `Transform::getIdentity()`,
		const cv::Size &	imageSize = `cv::Size(0,0)`
	)

Definition at line 149 of file StereoCameraModel.cpp.

virtual rtabmap::StereoCameraModel::~StereoCameraModel ( ) [inline, virtual]

Definition at line 83 of file StereoCameraModel.h.

Member Function Documentation

double rtabmap::StereoCameraModel::baseline ( ) const [inline]

Definition at line 101 of file StereoCameraModel.h.

float rtabmap::StereoCameraModel::computeDepth ( float disparity ) const

Definition at line 373 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity ( float depth ) const

Definition at line 384 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity ( unsigned short depth ) const

Definition at line 395 of file StereoCameraModel.cpp.

const cv::Mat& rtabmap::StereoCameraModel::E ( ) const [inline]

Definition at line 109 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::F ( ) const [inline]

Definition at line 110 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::getLeftSuffix ( ) const [inline]

Definition at line 122 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::getRightSuffix ( ) const [inline]

Definition at line 123 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::initRectificationMap ( ) [inline]

Definition at line 88 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isRectificationMapInitialized ( ) [inline]

Definition at line 89 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isValidForProjection ( ) const [inline]

Definition at line 85 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isValidForRectification ( ) const [inline]

Definition at line 86 of file StereoCameraModel.h.

const CameraModel& rtabmap::StereoCameraModel::left ( ) const [inline]

Definition at line 119 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::load	(	const std::string &	directory,
		const std::string &	cameraName,
		bool	ignoreStereoTransform = `true`
	)

Definition at line 175 of file StereoCameraModel.cpp.

const Transform& rtabmap::StereoCameraModel::localTransform ( ) const [inline]

Definition at line 116 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::name ( ) const [inline]

Definition at line 92 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::R ( ) const [inline]

Definition at line 107 of file StereoCameraModel.h.

const CameraModel& rtabmap::StereoCameraModel::right ( ) const [inline]

Definition at line 120 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::roi ( const cv::Rect & roi )

Definition at line 367 of file StereoCameraModel.cpp.

bool rtabmap::StereoCameraModel::save	(	const std::string &	directory,
		bool	ignoreStereoTransform = `true`
	)		const

Definition at line 286 of file StereoCameraModel.cpp.

bool rtabmap::StereoCameraModel::saveStereoTransform ( const std::string & directory ) const

Definition at line 299 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::scale ( double scale )

Definition at line 361 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::setImageSize ( const cv::Size & size ) [inline]

Definition at line 95 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setLocalTransform ( const Transform & transform ) [inline]

Definition at line 115 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setName	(	const std::string &	name,
		const std::string &	leftSuffix = `"left"`,
		const std::string &	rightSuffix = `"right"`
	)