Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::StereoCameraModel Class Reference

#include <StereoCameraModel.h>

Public Member Functions

double baseline () const
 
float computeDepth (float disparity) const
 
float computeDisparity (float depth) const
 
float computeDisparity (unsigned short depth) const
 
unsigned int deserialize (const std::vector< unsigned char > &data)
 
unsigned int deserialize (const unsigned char *data, unsigned int dataSize)
 
const cv::Mat & E () const
 
const cv::Mat & F () const
 
const std::string & getLeftSuffix () const
 
const std::string & getRightSuffix () const
 
void initRectificationMap ()
 
bool isRectificationMapInitialized () const
 
bool isValidForProjection () const
 
bool isValidForRectification () const
 
const CameraModel & left () const
 
bool load (const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true)
 
const Transform & localTransform () const
 
const std::string & name () const
 
const cv::Mat & R () const
 
const CameraModel & right () const
 
void roi (const cv::Rect &roi)
 
bool save (const std::string &directory, bool ignoreStereoTransform=true) const
 
bool saveStereoTransform (const std::string &directory) const
 
void scale (double scale)
 
std::vector< unsigned char > serialize () const
 
void setImageSize (const cv::Size &size)
 
void setLocalTransform (const Transform &transform)
 
void setName (const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")
 
 StereoCameraModel ()
 
 StereoCameraModel (const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform(0, 0, 1, 0,-1, 0, 0, 0, 0,-1, 0, 0))
 
 StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())
 
 StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)
 
 StereoCameraModel (double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0,-1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
 
 StereoCameraModel (const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0,-1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
 
Transform stereoTransform () const
 
const cv::Mat & T () const
 
virtual ~StereoCameraModel ()
 

Private Member Functions

void updateStereoRectification ()
 

Private Attributes

cv::Mat E_
 
cv::Mat F_
 
CameraModel left_
 
std::string leftSuffix_
 
std::string name_
 
cv::Mat R_
 
CameraModel right_
 
std::string rightSuffix_
 
cv::Mat T_
 

Detailed Description

Definition at line 35 of file StereoCameraModel.h.

Constructor & Destructor Documentation

rtabmap::StereoCameraModel::StereoCameraModel ( )
inline

Definition at line 38 of file StereoCameraModel.h.

rtabmap::StereoCameraModel::StereoCameraModel ( const std::string &  name,
const cv::Size &  imageSize1,
const cv::Mat &  K1,
const cv::Mat &  D1,
const cv::Mat &  R1,
const cv::Mat &  P1,
const cv::Size &  imageSize2,
const cv::Mat &  K2,
const cv::Mat &  D2,
const cv::Mat &  R2,
const cv::Mat &  P2,
const cv::Mat &  R,
const cv::Mat &  T,
const cv::Mat &  E,
const cv::Mat &  F,
const Transform &  localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0) 
)

Definition at line 42 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel ( const std::string &  name,
const CameraModel &  leftCameraModel,
const CameraModel &  rightCameraModel,
const cv::Mat &  R = cv::Mat(),
const cv::Mat &  T = cv::Mat(),
const cv::Mat &  E = cv::Mat(),
const cv::Mat &  F = cv::Mat() 
)

Definition at line 66 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel ( const std::string &  name,
const CameraModel &  leftCameraModel,
const CameraModel &  rightCameraModel,
const Transform &  extrinsics 
)

Definition at line 102 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel ( double  fx,
double  fy,
double  cx,
double  cy,
double  baseline,
const Transform &  localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const cv::Size &  imageSize = cv::Size(0,0) 
)

Definition at line 130 of file StereoCameraModel.cpp.

rtabmap::StereoCameraModel::StereoCameraModel ( const std::string &  name,
double  fx,
double  fy,
double  cx,
double  cy,
double  baseline,
const Transform &  localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const cv::Size &  imageSize = cv::Size(0,0) 
)

Definition at line 146 of file StereoCameraModel.cpp.

virtual rtabmap::StereoCameraModel::~StereoCameraModel ( )
inlinevirtual

Definition at line 83 of file StereoCameraModel.h.

Member Function Documentation

double rtabmap::StereoCameraModel::baseline ( ) const
inline

Definition at line 104 of file StereoCameraModel.h.

float rtabmap::StereoCameraModel::computeDepth ( float  disparity) const

Definition at line 556 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity ( float  depth) const

Definition at line 567 of file StereoCameraModel.cpp.

float rtabmap::StereoCameraModel::computeDisparity ( unsigned short  depth) const

Definition at line 578 of file StereoCameraModel.cpp.

unsigned int rtabmap::StereoCameraModel::deserialize ( const std::vector< unsigned char > &  data)

Definition at line 460 of file StereoCameraModel.cpp.

unsigned int rtabmap::StereoCameraModel::deserialize ( const unsigned char *  data,
unsigned int  dataSize 
)

Definition at line 464 of file StereoCameraModel.cpp.

const cv::Mat& rtabmap::StereoCameraModel::E ( ) const
inline

Definition at line 112 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::F ( ) const
inline

Definition at line 113 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::getLeftSuffix ( ) const
inline

Definition at line 125 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::getRightSuffix ( ) const
inline

Definition at line 126 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::initRectificationMap ( )
inline

Definition at line 88 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isRectificationMapInitialized ( ) const
inline

Definition at line 89 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isValidForProjection ( ) const
inline

Definition at line 85 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::isValidForRectification ( ) const
inline

Definition at line 86 of file StereoCameraModel.h.

const CameraModel& rtabmap::StereoCameraModel::left ( ) const
inline

Definition at line 122 of file StereoCameraModel.h.

bool rtabmap::StereoCameraModel::load ( const std::string &  directory,
const std::string &  cameraName,
bool  ignoreStereoTransform = true 
)

Definition at line 223 of file StereoCameraModel.cpp.

const Transform& rtabmap::StereoCameraModel::localTransform ( ) const
inline

Definition at line 119 of file StereoCameraModel.h.

const std::string& rtabmap::StereoCameraModel::name ( ) const
inline

Definition at line 92 of file StereoCameraModel.h.

const cv::Mat& rtabmap::StereoCameraModel::R ( ) const
inline

Definition at line 110 of file StereoCameraModel.h.

const CameraModel& rtabmap::StereoCameraModel::right ( ) const
inline

Definition at line 123 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::roi ( const cv::Rect &  roi)

Definition at line 550 of file StereoCameraModel.cpp.

bool rtabmap::StereoCameraModel::save ( const std::string &  directory,
bool  ignoreStereoTransform = true 
) const

Definition at line 334 of file StereoCameraModel.cpp.

bool rtabmap::StereoCameraModel::saveStereoTransform ( const std::string &  directory) const

Definition at line 347 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::scale ( double  scale)

Definition at line 544 of file StereoCameraModel.cpp.

std::vector< unsigned char > rtabmap::StereoCameraModel::serialize ( ) const

Definition at line 409 of file StereoCameraModel.cpp.

void rtabmap::StereoCameraModel::setImageSize ( const cv::Size &  size)
inline

Definition at line 95 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setLocalTransform ( const Transform &  transform)
inline

Definition at line 118 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::setName ( const std::string &  name,
const std::string &  leftSuffix = "left",
const std::string &  rightSuffix = "right" 
)

Definition at line 163 of file StereoCameraModel.cpp.

Transform rtabmap::StereoCameraModel::stereoTransform ( ) const

Definition at line 589 of file StereoCameraModel.cpp.

const cv::Mat& rtabmap::StereoCameraModel::T ( ) const
inline

Definition at line 111 of file StereoCameraModel.h.

void rtabmap::StereoCameraModel::updateStereoRectification ( )
private

Definition at line 172 of file StereoCameraModel.cpp.

Member Data Documentation

cv::Mat rtabmap::StereoCameraModel::E_
private

Definition at line 139 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::F_
private

Definition at line 140 of file StereoCameraModel.h.

CameraModel rtabmap::StereoCameraModel::left_
private

Definition at line 134 of file StereoCameraModel.h.

std::string rtabmap::StereoCameraModel::leftSuffix_
private

Definition at line 132 of file StereoCameraModel.h.

std::string rtabmap::StereoCameraModel::name_
private

Definition at line 136 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::R_
private

Definition at line 137 of file StereoCameraModel.h.

CameraModel rtabmap::StereoCameraModel::right_
private

Definition at line 135 of file StereoCameraModel.h.

std::string rtabmap::StereoCameraModel::rightSuffix_
private

Definition at line 133 of file StereoCameraModel.h.

cv::Mat rtabmap::StereoCameraModel::T_
private

Definition at line 138 of file StereoCameraModel.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:09