crl::multisense::image::Calibration Class Reference

#include <MultiSenseTypes.hh>

Classes
class	Data

Public Attributes
Data	aux
Data	left
Data	right

Detailed Description

Class used For querying/setting camera calibration.

Parameters are for the maximum operating resolution of the device: CMV2000: 2048x1088 CVM4000: 2048x2048

Example code to querying the current camera calibration from a sensor:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");

channel->setMtu(7200);

//
// Create a image::Calibration instance to store the queried calibration
crl::multisense::image::Calibration imageCalibration;

//
// Query the camera calibration from the Channel instance
crl::multisense::Status status = channel->getImageCalibration(imageCalibration);

//
// Check to see if the calibration query succeeded
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query image calibration");
}

//
// Use the image calibration...

//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set a camera calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");

channel->setMtu(7200);

//
// Create a image::Calibration instance to store the queried calibration
crl::multisense::image::Calibration imageCalibration;

//
// Initialize left and right calibration matrices.
// In this example we are using arbitrary values. These should be
// parameters generated from stereo calibration routine. All sensors
// ship pre-calibrated so this operation is unnecessary.
imageCalibration.left.M  = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.right.M = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.left.D  = { 1, 1, 1, 1, 1, 0, 0, 0 };
imageCalibration.right.D = { 1, 1, 1, 1, 1, 0, 0, 0 };
imageCalibration.left.R  = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.right.R = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.left.P  = { {1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0} };
imageCalibration.right.P = { {1, 0, 0, 1}, {0, 1, 0, 0}, {0, 0, 1, 0} };

//
// Send the new camera calibration to the sensor
crl::multisense::Status status = channel->setImageCalibration(imageCalibration);

//
// Check to see if the sensor successfully received the new camera calibration
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set image calibration");
}

//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 1214 of file MultiSenseTypes.hh.

Member Data Documentation

Data crl::multisense::image::Calibration::aux

Full resolution camera calibration corresponding to aux color camera

Definition at line 1239 of file MultiSenseTypes.hh.

Data crl::multisense::image::Calibration::left

Full resolution camera calibration corresponding to the left camera

Definition at line 1235 of file MultiSenseTypes.hh.

Data crl::multisense::image::Calibration::right

Full resolution camera calibration corresponding to the right camera

Definition at line 1237 of file MultiSenseTypes.hh.

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

• MultiSenseTypes.hh