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 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 (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, 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 (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

StereoCameraModel() [1/6]

rtabmap::StereoCameraModel::StereoCameraModel ( )

inline

Definition at line 38 of file StereoCameraModel.h.

StereoCameraModel() [2/6]

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.

StereoCameraModel() [3/6]

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.

StereoCameraModel() [4/6]

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

Definition at line 102 of file StereoCameraModel.cpp.

StereoCameraModel() [5/6]

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.

StereoCameraModel() [6/6]

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.

~StereoCameraModel()

virtual rtabmap::StereoCameraModel::~StereoCameraModel ( )

inlinevirtual

Definition at line 83 of file StereoCameraModel.h.

Member Function Documentation

baseline()

double rtabmap::StereoCameraModel::baseline ( ) const

inline

Definition at line 104 of file StereoCameraModel.h.

computeDepth()

float rtabmap::StereoCameraModel::computeDepth

(

float

disparity

)

const

Definition at line 560 of file StereoCameraModel.cpp.

computeDisparity() [1/2]

float rtabmap::StereoCameraModel::computeDisparity

(

float

depth

)

const

Definition at line 571 of file StereoCameraModel.cpp.

computeDisparity() [2/2]

float rtabmap::StereoCameraModel::computeDisparity

(

unsigned short

depth

)

const

Definition at line 582 of file StereoCameraModel.cpp.

deserialize() [1/2]

unsigned int rtabmap::StereoCameraModel::deserialize

(

const std::vector< unsigned char > &

data

)

Definition at line 464 of file StereoCameraModel.cpp.

deserialize() [2/2]

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

Definition at line 468 of file StereoCameraModel.cpp.

E()

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

inline

Definition at line 112 of file StereoCameraModel.h.

F()

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

inline

Definition at line 113 of file StereoCameraModel.h.

getLeftSuffix()

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

inline

Definition at line 125 of file StereoCameraModel.h.

getRightSuffix()

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

inline

Definition at line 126 of file StereoCameraModel.h.

initRectificationMap()

void rtabmap::StereoCameraModel::initRectificationMap ( )

inline

Definition at line 88 of file StereoCameraModel.h.

isRectificationMapInitialized()

bool rtabmap::StereoCameraModel::isRectificationMapInitialized ( ) const

inline

Definition at line 89 of file StereoCameraModel.h.

isValidForProjection()

bool rtabmap::StereoCameraModel::isValidForProjection ( ) const

inline

Definition at line 85 of file StereoCameraModel.h.

isValidForRectification()

bool rtabmap::StereoCameraModel::isValidForRectification ( ) const

inline

Definition at line 86 of file StereoCameraModel.h.

left()

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

inline

Definition at line 122 of file StereoCameraModel.h.

load()

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

Definition at line 223 of file StereoCameraModel.cpp.

localTransform()

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

inline

Definition at line 119 of file StereoCameraModel.h.

name()

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

inline

Definition at line 92 of file StereoCameraModel.h.

R()

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

inline

Definition at line 110 of file StereoCameraModel.h.

right()

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

inline

Definition at line 123 of file StereoCameraModel.h.

roi()

void rtabmap::StereoCameraModel::roi

(

const cv::Rect &

roi

)

Definition at line 554 of file StereoCameraModel.cpp.

save()

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

Definition at line 334 of file StereoCameraModel.cpp.

saveStereoTransform()

bool rtabmap::StereoCameraModel::saveStereoTransform

(

const std::string &

directory

)

const

Definition at line 347 of file StereoCameraModel.cpp.

scale()

void rtabmap::StereoCameraModel::scale

(

double

scale

)

Definition at line 548 of file StereoCameraModel.cpp.

serialize()

std::vector< unsigned char > rtabmap::StereoCameraModel::serialize

(

)

const

Definition at line 413 of file StereoCameraModel.cpp.

setImageSize()

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

inline

Definition at line 95 of file StereoCameraModel.h.

setLocalTransform()

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

inline

Definition at line 118 of file StereoCameraModel.h.

setName()

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.

stereoTransform()

Transform rtabmap::StereoCameraModel::stereoTransform

(

)

const

Definition at line 593 of file StereoCameraModel.cpp.

T()

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

inline

Definition at line 111 of file StereoCameraModel.h.

updateStereoRectification()

void rtabmap::StereoCameraModel::updateStereoRectification ( )

private

Definition at line 172 of file StereoCameraModel.cpp.

Member Data Documentation

E_

cv::Mat rtabmap::StereoCameraModel::E_

private

Definition at line 139 of file StereoCameraModel.h.

F_

cv::Mat rtabmap::StereoCameraModel::F_

private

Definition at line 140 of file StereoCameraModel.h.

left_

CameraModel rtabmap::StereoCameraModel::left_

private

Definition at line 134 of file StereoCameraModel.h.

leftSuffix_

std::string rtabmap::StereoCameraModel::leftSuffix_

private

Definition at line 132 of file StereoCameraModel.h.

name_

std::string rtabmap::StereoCameraModel::name_

private

Definition at line 136 of file StereoCameraModel.h.

R_

cv::Mat rtabmap::StereoCameraModel::R_

private

Definition at line 137 of file StereoCameraModel.h.

right_

CameraModel rtabmap::StereoCameraModel::right_

private

Definition at line 135 of file StereoCameraModel.h.

rightSuffix_

std::string rtabmap::StereoCameraModel::rightSuffix_

private

Definition at line 133 of file StereoCameraModel.h.

T_

cv::Mat rtabmap::StereoCameraModel::T_

private

Definition at line 138 of file StereoCameraModel.h.

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

• StereoCameraModel.h
• StereoCameraModel.cpp