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>

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

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

image_geometry::StereoCameraModel::StereoCameraModel

(

)

Definition at line 5 of file stereo_camera_model.cpp.

image_geometry::StereoCameraModel::StereoCameraModel

(

const StereoCameraModel &

other

)

Definition at line 11 of file stereo_camera_model.cpp.

Member Function Documentation

double image_geometry::StereoCameraModel::baseline ( ) const

inline

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.

bool image_geometry::StereoCameraModel::initialized ( ) const

inline

Returns true if the camera has been initialized.

Definition at line 93 of file stereo_camera_model.h.

const PinholeCameraModel & image_geometry::StereoCameraModel::left ( ) const

inline

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.

const PinholeCameraModel & image_geometry::StereoCameraModel::right ( ) const

inline

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.

void image_geometry::StereoCameraModel::updateQ ( )

protected

Definition at line 53 of file stereo_camera_model.cpp.

Member Data Documentation

PinholeCameraModel image_geometry::StereoCameraModel::left_

protected

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.

PinholeCameraModel image_geometry::StereoCameraModel::right_

protected

Definition at line 95 of file stereo_camera_model.h.

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

• stereo_camera_model.h
• stereo_camera_model.cpp