multisense_ros::StereoCalibrationManger Class Reference

#include <camera_utilities.h>

Public Member Functions
double	aux_T () const
	Translation which transforms points from the aux camera frame into the left camera frame. More...
sensor_msgs::CameraInfo	auxCameraInfo (const std::string &frame_id, const ros::Time &stamp) const
crl::multisense::image::Config	config () const
sensor_msgs::CameraInfo	leftCameraInfo (const std::string &frame_id, const ros::Time &stamp) const
std::shared_ptr< RectificationRemapT >	leftRemap () const
Eigen::Matrix4d	Q () const
	Q stereo reprojection matrix see: https://docs.opencv.org/4.3.0/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02. More...
sensor_msgs::CameraInfo	rightCameraInfo (const std::string &frame_id, const ros::Time &stamp) const
std::shared_ptr< RectificationRemapT >	rightRemap () const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	StereoCalibrationManger (const crl::multisense::image::Config &config, const crl::multisense::image::Calibration &calibration, const crl::multisense::system::DeviceInfo &device_info)
double	T () const
	Translation which transforms points from the right camera frame into the left camera frame. More...
void	updateConfig (const crl::multisense::image::Config &config)
bool	validAux () const
	Determine if the Aux calibration is valid. More...

Private Attributes
sensor_msgs::CameraInfo	aux_camera_info_
const crl::multisense::image::Calibration	calibration_
crl::multisense::image::Config	config_
const crl::multisense::system::DeviceInfo &	device_info_
sensor_msgs::CameraInfo	left_camera_info_
std::shared_ptr< RectificationRemapT >	left_remap_
std::mutex	mutex_
Eigen::Matrix4d	q_matrix_
sensor_msgs::CameraInfo	right_camera_info_
std::shared_ptr< RectificationRemapT >	right_remap_

Detailed Description

Definition at line 138 of file camera_utilities.h.

Constructor & Destructor Documentation

multisense_ros::StereoCalibrationManger::StereoCalibrationManger	(	const crl::multisense::image::Config &	config,
		const crl::multisense::image::Calibration &	calibration,
		const crl::multisense::system::DeviceInfo &	device_info
	)

Definition at line 259 of file camera_utilities.cpp.

Member Function Documentation

double multisense_ros::StereoCalibrationManger::aux_T

(

)

const

Translation which transforms points from the aux camera frame into the left camera frame.

Definition at line 333 of file camera_utilities.cpp.

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::auxCameraInfo	(	const std::string &	frame_id,
		const ros::Time &	stamp
	)		const

Definition at line 378 of file camera_utilities.cpp.

crl::multisense::image::Config multisense_ros::StereoCalibrationManger::config

(

)

const

Definition at line 303 of file camera_utilities.cpp.

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::leftCameraInfo	(	const std::string &	frame_id,
		const ros::Time &	stamp
	)		const

Definition at line 354 of file camera_utilities.cpp.

std::shared_ptr< RectificationRemapT > multisense_ros::StereoCalibrationManger::leftRemap

(

)

const

Definition at line 390 of file camera_utilities.cpp.

Eigen::Matrix4d multisense_ros::StereoCalibrationManger::Q

(

)

const

Q stereo reprojection matrix see: https://docs.opencv.org/4.3.0/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02.

Definition at line 310 of file camera_utilities.cpp.

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::rightCameraInfo	(	const std::string &	frame_id,
		const ros::Time &	stamp
	)		const

Definition at line 366 of file camera_utilities.cpp.

std::shared_ptr< RectificationRemapT > multisense_ros::StereoCalibrationManger::rightRemap

(

)

const

Definition at line 397 of file camera_utilities.cpp.

double multisense_ros::StereoCalibrationManger::T

(

)

const

Translation which transforms points from the right camera frame into the left camera frame.

Definition at line 317 of file camera_utilities.cpp.

void multisense_ros::StereoCalibrationManger::updateConfig

(

const crl::multisense::image::Config &

config

)

Definition at line 274 of file camera_utilities.cpp.

bool multisense_ros::StereoCalibrationManger::validAux

(

)

const

Determine if the Aux calibration is valid.

Definition at line 349 of file camera_utilities.cpp.

Member Data Documentation

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::aux_camera_info_

private

Definition at line 197 of file camera_utilities.h.

const crl::multisense::image::Calibration multisense_ros::StereoCalibrationManger::calibration_

private

Definition at line 182 of file camera_utilities.h.

crl::multisense::image::Config multisense_ros::StereoCalibrationManger::config_

private

Definition at line 181 of file camera_utilities.h.

const crl::multisense::system::DeviceInfo& multisense_ros::StereoCalibrationManger::device_info_

private

Definition at line 183 of file camera_utilities.h.

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::left_camera_info_

private

Definition at line 195 of file camera_utilities.h.

std::shared_ptr<RectificationRemapT> multisense_ros::StereoCalibrationManger::left_remap_

private

Definition at line 199 of file camera_utilities.h.

std::mutex multisense_ros::StereoCalibrationManger::mutex_

mutableprivate

Definition at line 188 of file camera_utilities.h.

Eigen::Matrix4d multisense_ros::StereoCalibrationManger::q_matrix_

private

Definition at line 193 of file camera_utilities.h.

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManger::right_camera_info_

private

Definition at line 196 of file camera_utilities.h.

std::shared_ptr<RectificationRemapT> multisense_ros::StereoCalibrationManger::right_remap_

private

Definition at line 200 of file camera_utilities.h.

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

• camera_utilities.h
• camera_utilities.cpp