#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_ |
Definition at line 138 of file camera_utilities.h.
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.
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.
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Definition at line 197 of file camera_utilities.h.
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Definition at line 182 of file camera_utilities.h.
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Definition at line 181 of file camera_utilities.h.
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Definition at line 183 of file camera_utilities.h.
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Definition at line 195 of file camera_utilities.h.
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Definition at line 199 of file camera_utilities.h.
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Definition at line 188 of file camera_utilities.h.
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Definition at line 193 of file camera_utilities.h.
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Definition at line 196 of file camera_utilities.h.
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Definition at line 200 of file camera_utilities.h.