Class TStereoCamera

Defined in File TStereoCamera.h

Inheritance Relationships

Base Type

public mrpt::serialization::CSerializable

Class Documentation

class TStereoCamera : public mrpt::serialization::CSerializable

Structure to hold the parameters of a pinhole stereo camera model. The parameters obtained for one camera resolution can be used for any other resolution by means of the method TStereoCamera::scaleToResolution()

See also

mrpt::vision, the application stereo-calib-gui for calibrating a stereo camera

Public Functions

void saveToConfigFile(const std::string &section, mrpt::config::CConfigFileBase &cfg) const

Save all params to a plain text config file in this format:

[<SECTION>_LEFT]
resolution = [NCOLS NROWS]
cx         = CX
cy         = CY
fx         = FX
fy         = FY
dist       = [K1 K2 T1 T2 K3]

[<SECTION>_RIGHT]
resolution = [NCOLS NROWS]
cx         = CX
cy         = CY
fx         = FX
fy         = FY
dist       = [K1 K2 T1 T2 K3]

[<SECTION>_LEFT2RIGHT_POSE]
pose_quaternion = [x y z qr qx qy qz]

Notice that 3 different sections are read, of which “section” is only the prefix.

void loadFromConfigFile(const std::string &section, const mrpt::config::CConfigFileBase &cfg)

Load all the params from a config source, in the same format that used in saveToConfigFile(). Notice that 3 different sections are read, of which “section” is only the prefix.

Throws:: std::exception – on missing fields

inline void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string &section): overload This signature is consistent with the rest of MRPT APIs

std::string dumpAsText() const

Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.