1 #ifndef IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H 2 #define IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H 25 const sensor_msgs::CameraInfo&
right);
31 const sensor_msgs::CameraInfoConstPtr& right);
54 void projectDisparityTo3d(
const cv::Point2d& left_uv_rect,
float disparity, cv::Point3d& xyz)
const;
63 bool handleMissingValues =
false)
const;
81 double getZ(
double disparity)
const;
StereoCameraModel & operator=(const StereoCameraModel &other)
const PinholeCameraModel & right() const
Get the right monocular camera model.
bool initialized() const
Returns true if the camera has been initialized.
std::string tfFrame() const
Get the name of the camera coordinate frame in tf.
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.
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
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 Tx() const
Returns the x-translation term of the projection matrix.
double baseline() const
Returns the horizontal baseline in world coordinates.
Simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo.
const cv::Matx44d & reprojectionMatrix() const
Returns the disparity reprojection matrix.
double getZ(double disparity) const
Returns the depth at which a point is observed with a given disparity.
double getDisparity(double Z) const
Returns the disparity observed for a point at depth Z.
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...