8 Q_(0,0) =
Q_(1,1) = 1.0;
15 Q_(0,0) =
Q_(1,1) = 1.0;
28 const sensor_msgs::CameraInfo&
right)
32 bool changed = changed_left || changed_right;
48 const sensor_msgs::CameraInfoConstPtr&
right)
116 cv::Point3d& xyz)
const 124 double u = left_uv_rect.x, v = left_uv_rect.y;
125 cv::Point3d XYZ( (
Q_(0,0) * u) +
Q_(0,3), (
Q_(1,1) * v) +
Q_(1,3),
Q_(2,3));
126 double W =
Q_(3,2)*disparity +
Q_(3,3);
133 bool handleMissingValues)
const 137 cv::reprojectImageTo3D(disparity, point_cloud,
Q_, handleMissingValues);
StereoCameraModel & operator=(const StereoCameraModel &other)
const PinholeCameraModel & right() const
Get the right monocular camera model.
const PinholeCameraModel & left() const
Get the left monocular camera model.
bool fromCameraInfo(const sensor_msgs::CameraInfo &left, const sensor_msgs::CameraInfo &right)
Set the camera parameters from the sensor_msgs/CameraInfo messages.
const sensor_msgs::CameraInfo & cameraInfo() const
Returns the camera info message held internally.
PinholeCameraModel right_
double cx() const
Returns the x coordinate of the optical center.
void projectDisparityTo3d(const cv::Point2d &left_uv_rect, float disparity, cv::Point3d &xyz) const
Project a rectified pixel with disparity to a 3d point.
void projectDisparityImageTo3d(const cv::Mat &disparity, cv::Mat &point_cloud, bool handleMissingValues=false) const
Project a disparity image to a 3d point cloud.
static const double MISSING_Z
double cy() const
Returns the y coordinate of the optical center.
std::string tfFrame() const
Get the name of the camera coordinate frame in tf.
bool initialized() const
Returns true if the camera has been initialized.
double baseline() const
Returns the horizontal baseline in world coordinates.
bool fromCameraInfo(const sensor_msgs::CameraInfo &msg)
Set the camera parameters from the sensor_msgs/CameraInfo message.
double fy() const
Returns the focal length (pixels) in y direction of the rectified image.
double fx() const
Returns the focal length (pixels) in x direction of the rectified image.
Simplifies interpreting stereo image pairs geometrically using the parameters from the left and right...