The Camera class defines a general interface to a stereo camera. A stereo camera consists of two cameras with the same intrinsic parameters, but with different extrinsic parameters. More...

#include <StereoCameraModel.hpp>

Inherits SensorModel.

Public Types
enum	CalibrationFormat { OPENCV }
	output calibration file format for SaveCalibration()

enum	FOVDirection { HORIZONTAL , VERTICAL }
	FOV direction.

typedef rw::core::Ptr< StereoCameraModel >	Ptr
	smart pointer type to this class

Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	StereoCameraModel (const std::string &name, double fov, double width, double height, const rw::math::Transform3D<> &TL, const rw::math::Transform3D<> &TR, rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &modelInfo="")
	constructor More...

virtual	~StereoCameraModel ()
	destructor

Image::Ptr	getLeftImage (const rw::kinematics::State &state)
	get left image

void	setLeftImage (Image::Ptr img, rw::kinematics::State &state)
	set left image

Image::Ptr	getRightImage (const rw::kinematics::State &state)
	get right image

void	setRightImage (Image::Ptr img, rw::kinematics::State &state)
	set right image

Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...

	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...

virtual	~SensorModel ()
	destructor

void	setName (const std::string &name)
	sets the name of this sensor More...

void	setDescription (const std::string &description)
	sets the description of this sensor More...

const std::string &	getName () const
	returns the name of this sensor More...

const std::string &	getDescription () const
	returns a description of this sensor More...

kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...

virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	Sets the frame to which the sensor should be attached. More...

rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor

const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Static Public Member Functions
static bool	SaveCalibration (const std::string &filename, double fov, double wx, double wy, const rw::math::Transform3D<> &TL, const rw::math::Transform3D<> &TR, FOVDirection direction=HORIZONTAL, CalibrationFormat format=OPENCV)
	utility function for saving a stereo calibration to a file More...

static void	WriteCalibration (std::ostream &os, double fov, double wx, double wy, const rw::math::Transform3D<> &T, const std::vector< double > &dist=std::vector< double >(4, 0.0), FOVDirection direction=HORIZONTAL, CalibrationFormat format=OPENCV)
	utility function for writing a camera calibration to a stream More...

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

The Camera class defines a general interface to a stereo camera. A stereo camera consists of two cameras with the same intrinsic parameters, but with different extrinsic parameters.

Since ideal cameras are assumed, the intrinsics are given as a horizontal/vertical pixel resolution as well as a horizontal field of view (FOV).

The extrinsic parameters are given simply as two transformation matrices, which give the pose of the cameras relative some external frame.

Constructor & Destructor Documentation

◆ StereoCameraModel()

StereoCameraModel	(	const std::string &	name,
		double	fov,
		double	width,
		double	height,
		const rw::math::Transform3D<> &	TL,
		const rw::math::Transform3D<> &	TR,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	modelInfo = `""`
	)

constructor

Parameters

name	[in] name of sensor
fov	[in] horizontal field of view
width	[in] width of image
height	[in] height of image
TL	[in] transform from sensor frame to left camera frame
TR	[in] transform from sensor frame to right camera frame
frame	[in] sensor frame
modelInfo	[in] info string

Member Function Documentation

◆ SaveCalibration()

static bool SaveCalibration	(	const std::string &	filename,
		double	fov,
		double	wx,
		double	wy,
		const rw::math::Transform3D<> &	TL,
		const rw::math::Transform3D<> &	TR,
		FOVDirection	direction = `HORIZONTAL`,
		CalibrationFormat	format = `OPENCV`
	)

static

utility function for saving a stereo calibration to a file

Parameters

filename	[in] file to save to
fov	[in] field of view (FOV) [rad]
wx	[in] horizontal pixels
wy	[in] vertical pixels
TL	[in] transformation of left camera frame
TR	[in] transformation of right camera frame
direction	[in] the direction of the specified FOV
format	[in] calibration file format to use

Returns: true if the file was successfully saved, false otherwise

◆ WriteCalibration()

static void WriteCalibration	(	std::ostream &	os,
		double	fov,
		double	wx,
		double	wy,
		const rw::math::Transform3D<> &	T,
		const std::vector< double > &	dist = `std::vector< double >(4, 0.0)`,
		FOVDirection	direction = `HORIZONTAL`,
		CalibrationFormat	format = `OPENCV`
	)

static

utility function for writing a camera calibration to a stream

Parameters

os	the stream to write to
fov	field of view (FOV) [rad]
wx	horizontal pixels
wy	vertical pixels
T	[in] transformation of the camera frame
dist	[in] distortion parameters
direction	[in] the direction of the specified FOV
format	[in] calibration file format to use

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

StereoCameraModel.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StereoCameraModel()

Member Function Documentation

◆ SaveCalibration()

◆ WriteCalibration()