Class StereoCameraModel

Class Documentation

class StereoCameraModel

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

Public Functions

IMAGE_GEOMETRY_PUBLIC StereoCameraModel & operator= (const StereoCameraModel &other)

IMAGE_GEOMETRY_PUBLIC bool fromCameraInfo (const sensor_msgs::msg::CameraInfo &left, const sensor_msgs::msg::CameraInfo &right): Set the camera parameters from the sensor_msgs/CameraInfo messages.

IMAGE_GEOMETRY_PUBLIC bool fromCameraInfo (const sensor_msgs::msg::CameraInfo::ConstSharedPtr &left, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &right): Set the camera parameters from the sensor_msgs/CameraInfo messages.

inline IMAGE_GEOMETRY_PUBLIC const PinholeCameraModel & left () const: Get the left monocular camera model.

inline IMAGE_GEOMETRY_PUBLIC const PinholeCameraModel & right () const: Get the right monocular camera model.

inline IMAGE_GEOMETRY_PUBLIC std::string tfFrame () const

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.

IMAGE_GEOMETRY_PUBLIC void projectDisparityTo3d (const cv::Point2d &left_uv_rect, float disparity, cv::Point3d &xyz) const: Project a rectified pixel with disparity to a 3d point.

IMAGE_GEOMETRY_PUBLIC void 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).

inline IMAGE_GEOMETRY_PUBLIC const cv::Matx44d & reprojectionMatrix () const: Returns the disparity reprojection matrix.

inline IMAGE_GEOMETRY_PUBLIC double baseline () const: Returns the horizontal baseline in world coordinates.

inline IMAGE_GEOMETRY_PUBLIC double getZ (double disparity) const

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

This is the inverse of getDisparity().

inline IMAGE_GEOMETRY_PUBLIC double getDisparity (double Z) const

Returns the disparity observed for a point at depth Z.

This is the inverse of getZ().

inline IMAGE_GEOMETRY_PUBLIC bool initialized () const: Returns true if the camera has been initialized.

Public Static Attributes

Protected Functions

Protected Attributes