Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes
image_geometry::StereoCameraModel Class Reference

Simplifies interpreting stereo image pairs geometrically using the parameters from the left and right sensor_msgs/CameraInfo. More...

#include <stereo_camera_model.h>

List of all members.

Public Member Functions

double baseline () const
 Returns the horizontal baseline in world coordinates.
bool fromCameraInfo (const sensor_msgs::CameraInfo &left, const sensor_msgs::CameraInfo &right)
 Set the camera parameters from the sensor_msgs/CameraInfo messages.
bool fromCameraInfo (const sensor_msgs::CameraInfoConstPtr &left, const sensor_msgs::CameraInfoConstPtr &right)
 Set the camera parameters from the sensor_msgs/CameraInfo messages.
double getDisparity (double Z) const
 Returns the disparity observed for a point at depth Z.
double getZ (double disparity) const
 Returns the depth at which a point is observed with a given disparity.
bool initialized () const
 Returns true if the camera has been initialized.
const PinholeCameraModelleft () const
 Get the left monocular camera model.
StereoCameraModeloperator= (const StereoCameraModel &other)
void projectDisparityImageTo3d (const cv::Mat &disparity, cv::Mat &point_cloud, bool handleMissingValues=false) const
 Project a disparity image to a 3d point cloud.
void projectDisparityTo3d (const cv::Point2d &left_uv_rect, float disparity, cv::Point3d &xyz) const
 Project a rectified pixel with disparity to a 3d point.
const cv::Matx44d & reprojectionMatrix () const
 Returns the disparity reprojection matrix.
const PinholeCameraModelright () const
 Get the right monocular camera model.
 StereoCameraModel ()
 StereoCameraModel (const StereoCameraModel &other)
std::string tfFrame () const
 Get the name of the camera coordinate frame in tf.

Static Public Attributes

static const double MISSING_Z = 10000.

Protected Member Functions

void updateQ ()

Protected Attributes

PinholeCameraModel left_
cv::Matx44d Q_
PinholeCameraModel right_

Detailed Description

Simplifies interpreting stereo image pairs geometrically using the parameters from the left and right sensor_msgs/CameraInfo.

Definition at line 12 of file stereo_camera_model.h.


Constructor & Destructor Documentation

Definition at line 5 of file stereo_camera_model.cpp.

Definition at line 11 of file stereo_camera_model.cpp.


Member Function Documentation

Returns the horizontal baseline in world coordinates.

Todo:
Currently assuming horizontal baseline

Definition at line 110 of file stereo_camera_model.h.

bool image_geometry::StereoCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfo &  left,
const sensor_msgs::CameraInfo &  right 
)

Set the camera parameters from the sensor_msgs/CameraInfo messages.

Definition at line 27 of file stereo_camera_model.cpp.

bool image_geometry::StereoCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfoConstPtr &  left,
const sensor_msgs::CameraInfoConstPtr &  right 
)

Set the camera parameters from the sensor_msgs/CameraInfo messages.

Definition at line 47 of file stereo_camera_model.cpp.

double image_geometry::StereoCameraModel::getDisparity ( double  Z) const [inline]

Returns the disparity observed for a point at depth Z.

This is the inverse of getZ().

Definition at line 122 of file stereo_camera_model.h.

double image_geometry::StereoCameraModel::getZ ( double  disparity) const [inline]

Returns the depth at which a point is observed with a given disparity.

This is the inverse of getDisparity().

Definition at line 116 of file stereo_camera_model.h.

Returns true if the camera has been initialized.

Definition at line 93 of file stereo_camera_model.h.

Get the left monocular camera model.

Definition at line 103 of file stereo_camera_model.h.

StereoCameraModel & image_geometry::StereoCameraModel::operator= ( const StereoCameraModel other)

Definition at line 20 of file stereo_camera_model.cpp.

void image_geometry::StereoCameraModel::projectDisparityImageTo3d ( const cv::Mat &  disparity,
cv::Mat &  point_cloud,
bool  handleMissingValues = false 
) const

Project a disparity image to a 3d point cloud.

If handleMissingValues = true, all points with minimal disparity (outliers) have Z set to MISSING_Z (currently 10000.0).

Definition at line 132 of file stereo_camera_model.cpp.

void image_geometry::StereoCameraModel::projectDisparityTo3d ( const cv::Point2d &  left_uv_rect,
float  disparity,
cv::Point3d &  xyz 
) const

Project a rectified pixel with disparity to a 3d point.

Definition at line 115 of file stereo_camera_model.cpp.

const cv::Matx44d & image_geometry::StereoCameraModel::reprojectionMatrix ( ) const [inline]

Returns the disparity reprojection matrix.

Definition at line 108 of file stereo_camera_model.h.

Get the right monocular camera model.

Definition at line 104 of file stereo_camera_model.h.

std::string image_geometry::StereoCameraModel::tfFrame ( ) const [inline]

Get the name of the camera coordinate frame in tf.

For stereo cameras, both the left and right CameraInfo should be in the left optical frame.

Definition at line 106 of file stereo_camera_model.h.

Definition at line 53 of file stereo_camera_model.cpp.


Member Data Documentation

Definition at line 95 of file stereo_camera_model.h.

const double image_geometry::StereoCameraModel::MISSING_Z = 10000. [static]

Definition at line 64 of file stereo_camera_model.h.

cv::Matx44d image_geometry::StereoCameraModel::Q_ [protected]

Definition at line 96 of file stereo_camera_model.h.

Definition at line 95 of file stereo_camera_model.h.


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


image_geometry
Author(s): Patrick Mihelich
autogenerated on Wed Aug 9 2017 02:51:50