rtabmap::StereoCameraModel Class Reference

#include <StereoCameraModel.h>

List of all members.

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
void	initRectificationMap ()
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
bool	save (const std::string &directory, bool ignoreStereoTransform=true) const
void	scale (double scale)
void	setImageSize (const cv::Size &size)
void	setLocalTransform (const Transform &transform)
void	setName (const std::string &name)
	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	name_
cv::Mat	R_
CameraModel	right_
cv::Mat	T_

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Detailed Description

Definition at line 35 of file StereoCameraModel.h.

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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 59 of file StereoCameraModel.cpp.

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

Definition at line 97 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 127 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 141 of file StereoCameraModel.cpp.

virtual rtabmap::StereoCameraModel::~StereoCameraModel

(

)

[inline, virtual]

Definition at line 83 of file StereoCameraModel.h.

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Member Function Documentation

double rtabmap::StereoCameraModel::baseline

(

)

const [inline]

Definition at line 99 of file StereoCameraModel.h.

float rtabmap::StereoCameraModel::computeDepth

(

float

disparity

)

const

Definition at line 347 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity

(

float

depth

)

const

Definition at line 358 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity

(

unsigned short

depth

)

const

Definition at line 369 of file StereoCameraModel.cpp.

const cv::Mat& rtabmap::StereoCameraModel::E

(

)

const [inline]

Definition at line 107 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::F

(

)

const [inline]

Definition at line 108 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::initRectificationMap

(

)

[inline]

Definition at line 88 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 116 of file StereoCameraModel.h.

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

Definition at line 163 of file StereoCameraModel.cpp.

const Transform& rtabmap::StereoCameraModel::localTransform

(

)

const [inline]

Definition at line 113 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::name

(

)

const [inline]

Definition at line 91 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::R

(

)

const [inline]

Definition at line 105 of file StereoCameraModel.h.

const CameraModel& rtabmap::StereoCameraModel::right

(

)

const [inline]

Definition at line 117 of file StereoCameraModel.h.

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

Definition at line 272 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::scale

(

double

scale

)

Definition at line 341 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::setImageSize

(

const cv::Size &

size

)

[inline]

Definition at line 94 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setLocalTransform

(

const Transform &

transform

)

[inline]

Definition at line 112 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setName

(

const std::string &

name

)

Definition at line 156 of file StereoCameraModel.cpp.

Transform rtabmap::StereoCameraModel::stereoTransform

(

)

const

Definition at line 380 of file StereoCameraModel.cpp.

const cv::Mat& rtabmap::StereoCameraModel::T

(

)

const [inline]

Definition at line 106 of file StereoCameraModel.h.

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Member Data Documentation

cv::Mat rtabmap::StereoCameraModel::E_ [private]

Definition at line 125 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::F_ [private]

Definition at line 126 of file StereoCameraModel.h.

CameraModel rtabmap::StereoCameraModel::left_ [private]

Definition at line 120 of file StereoCameraModel.h.

std::string rtabmap::StereoCameraModel::name_ [private]

Definition at line 122 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::R_ [private]

Definition at line 123 of file StereoCameraModel.h.

CameraModel rtabmap::StereoCameraModel::right_ [private]

Definition at line 121 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::T_ [private]

Definition at line 124 of file StereoCameraModel.h.

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

• StereoCameraModel.h
• StereoCameraModel.cpp