#include <camera_utilities.h>

Public Member Functions
Eigen::Vector3d	aux_T () const
	Translation which transforms points from the rectified left camera frame into the rectified aux camera frame. More...

sensor_msgs::CameraInfo	auxCameraInfo (const std::string &frame_id, const ros::Time &stamp, const OperatingResolutionT &resolution) const

sensor_msgs::CameraInfo	auxCameraInfo (const std::string &frame_id, const ros::Time &stamp, size_t width, size_t height) 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

OperatingResolutionT	operatingAuxResolution () const
	Get the current aux camera operating resolution. This resolution applies for just the mono topics. The Rectified aux topics match the operating stereo resolution. More...

OperatingResolutionT	operatingStereoResolution () const
	Get the current main stereo pair operating resolution. This resolution applies for both the mono and rectified topics. More...

Eigen::Matrix4d	Q () const
	Q stereo reprojection matrix see: https://docs.opencv.org/4.3.0/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02. More...

Eigen::Vector2f	rectifiedAuxProject (const Eigen::Vector3f &left_rectified_point) const
	Project points corresponding to disparity measurements in the left rectified image frame into the aux rectified image plane. More...

Eigen::Vector3f	reproject (size_t u, size_t v, double d) const
	Reproject disparity values into 3D. 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	StereoCalibrationManager (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 rectified left camera frame into the recified right camera frame. More...

void	updateConfig (const crl::multisense::image::Config &config)

bool	validAux () const
	Determine if the Aux calibration is valid. More...

bool	validRight () const
	Determine if the Right calibration is valid. More...

Static Public Member Functions
static bool	isValidReprojectedPoint (const Eigen::Vector3f &pt, const float squared_max_range)
	Check if a reprojected point falls within a valid range. More...

static Eigen::Vector2f	rectifiedAuxProject (const Eigen::Vector3f &left_rectified_point, const sensor_msgs::CameraInfo &aux_camera_info)
	Project points corresponding to disparity measurements in the left rectified image frame into the aux rectified image plane. More...

static Eigen::Vector3f	reproject (size_t u, size_t v, double d, const sensor_msgs::CameraInfo &left_camera_info, const sensor_msgs::CameraInfo &right_camera_info)
	Reproject disparity values into 3D. 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 150 of file camera_utilities.h.

Constructor & Destructor Documentation

◆ StereoCalibrationManager()

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

Definition at line 243 of file camera_utilities.cpp.

Member Function Documentation

◆ aux_T()

Eigen::Vector3d multisense_ros::StereoCalibrationManager::aux_T ( ) const

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

Definition at line 323 of file camera_utilities.cpp.

◆ auxCameraInfo() [1/2]

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

Definition at line 466 of file camera_utilities.cpp.

◆ auxCameraInfo() [2/2]

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManager::auxCameraInfo	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		size_t	width,
		size_t	height
	)		const

Definition at line 473 of file camera_utilities.cpp.

◆ config()

crl::multisense::image::Config multisense_ros::StereoCalibrationManager::config ( ) const

Definition at line 293 of file camera_utilities.cpp.

◆ isValidReprojectedPoint()

bool multisense_ros::StereoCalibrationManager::isValidReprojectedPoint	(	const Eigen::Vector3f &	pt,
		const float	squared_max_range
	)

static

Check if a reprojected point falls within a valid range.

Definition at line 377 of file camera_utilities.cpp.

◆ leftCameraInfo()

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

Definition at line 443 of file camera_utilities.cpp.

◆ leftRemap()

std::shared_ptr< RectificationRemapT > multisense_ros::StereoCalibrationManager::leftRemap ( ) const

Definition at line 489 of file camera_utilities.cpp.

◆ operatingAuxResolution()

OperatingResolutionT multisense_ros::StereoCalibrationManager::operatingAuxResolution ( ) const

Get the current aux camera operating resolution. This resolution applies for just the mono topics. The Rectified aux topics match the operating stereo resolution.

Definition at line 417 of file camera_utilities.cpp.

◆ operatingStereoResolution()

OperatingResolutionT multisense_ros::StereoCalibrationManager::operatingStereoResolution ( ) const

Get the current main stereo pair operating resolution. This resolution applies for both the mono and rectified topics.

Definition at line 410 of file camera_utilities.cpp.

◆ Q()

Eigen::Matrix4d multisense_ros::StereoCalibrationManager::Q ( ) const

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

Definition at line 300 of file camera_utilities.cpp.

◆ rectifiedAuxProject() [1/2]

Eigen::Vector2f multisense_ros::StereoCalibrationManager::rectifiedAuxProject ( const Eigen::Vector3f & left_rectified_point ) const

Project points corresponding to disparity measurements in the left rectified image frame into the aux rectified image plane.

Definition at line 382 of file camera_utilities.cpp.

◆ rectifiedAuxProject() [2/2]

Eigen::Vector2f multisense_ros::StereoCalibrationManager::rectifiedAuxProject	(	const Eigen::Vector3f &	left_rectified_point,
		const sensor_msgs::CameraInfo &	aux_camera_info
	)

static

Project points corresponding to disparity measurements in the left rectified image frame into the aux rectified image plane.

Definition at line 389 of file camera_utilities.cpp.

◆ reproject() [1/2]

Eigen::Vector3f multisense_ros::StereoCalibrationManager::reproject	(	size_t	u,
		size_t	v,
		double	d
	)		const

Reproject disparity values into 3D.

Definition at line 341 of file camera_utilities.cpp.

◆ reproject() [2/2]

Eigen::Vector3f multisense_ros::StereoCalibrationManager::reproject	(	size_t	u,
		size_t	v,
		double	d,
		const sensor_msgs::CameraInfo &	left_camera_info,
		const sensor_msgs::CameraInfo &	right_camera_info
	)

static

Reproject disparity values into 3D.

Definition at line 348 of file camera_utilities.cpp.

◆ rightCameraInfo()

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

Definition at line 455 of file camera_utilities.cpp.

◆ rightRemap()

std::shared_ptr< RectificationRemapT > multisense_ros::StereoCalibrationManager::rightRemap ( ) const

Definition at line 496 of file camera_utilities.cpp.

◆ T()

double multisense_ros::StereoCalibrationManager::T ( ) const

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

Definition at line 307 of file camera_utilities.cpp.

◆ updateConfig()

void multisense_ros::StereoCalibrationManager::updateConfig ( const crl::multisense::image::Config & config )

Definition at line 259 of file camera_utilities.cpp.

◆ validAux()

bool multisense_ros::StereoCalibrationManager::validAux ( ) const

Determine if the Aux calibration is valid.

Definition at line 437 of file camera_utilities.cpp.

◆ validRight()

bool multisense_ros::StereoCalibrationManager::validRight ( ) const

Determine if the Right calibration is valid.

Definition at line 432 of file camera_utilities.cpp.

Member Data Documentation

◆ aux_camera_info_

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManager::aux_camera_info_

private

Definition at line 266 of file camera_utilities.h.

◆ calibration_

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

private

Definition at line 251 of file camera_utilities.h.

◆ config_

crl::multisense::image::Config multisense_ros::StereoCalibrationManager::config_

private

Definition at line 250 of file camera_utilities.h.

◆ device_info_

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

private

Definition at line 252 of file camera_utilities.h.

◆ left_camera_info_

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManager::left_camera_info_

private

Definition at line 264 of file camera_utilities.h.

◆ left_remap_

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

private

Definition at line 268 of file camera_utilities.h.

◆ mutex_

std::mutex multisense_ros::StereoCalibrationManager::mutex_

mutableprivate

Definition at line 257 of file camera_utilities.h.

◆ q_matrix_

Eigen::Matrix4d multisense_ros::StereoCalibrationManager::q_matrix_

private

Definition at line 262 of file camera_utilities.h.

◆ right_camera_info_

sensor_msgs::CameraInfo multisense_ros::StereoCalibrationManager::right_camera_info_

private

Definition at line 265 of file camera_utilities.h.

◆ right_remap_

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

private

Definition at line 269 of file camera_utilities.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ StereoCalibrationManager()

Member Function Documentation

◆ aux_T()

◆ auxCameraInfo() [1/2]

◆ auxCameraInfo() [2/2]

◆ config()

◆ isValidReprojectedPoint()

◆ leftCameraInfo()

◆ leftRemap()

◆ operatingAuxResolution()

◆ operatingStereoResolution()

◆ Q()

◆ rectifiedAuxProject() [1/2]

◆ rectifiedAuxProject() [2/2]

◆ reproject() [1/2]

◆ reproject() [2/2]

◆ rightCameraInfo()

◆ rightRemap()

◆ T()

◆ updateConfig()

◆ validAux()

◆ validRight()

Member Data Documentation

◆ aux_camera_info_

◆ calibration_

◆ config_

◆ device_info_

◆ left_camera_info_

◆ left_remap_

◆ mutex_

◆ q_matrix_

◆ right_camera_info_

◆ right_remap_