Package org.robwork.sdurw

Class StereoCameraModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw.SensorModel

org.robwork.sdurw.StereoCameraModel

public class StereoCameraModel
extends SensorModel

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	StereoCameraModel.CalibrationFormat	output calibration file format for SaveCalibration()
static class	StereoCameraModel.FOVDirection	FOV direction

Constructor Summary

Constructors

Constructor	Description
StereoCameraModel(long cPtr, boolean cMemoryOwn)
StereoCameraModel(java.lang.String name, double fov, double width, double height, Transform3Dd TL, Transform3Dd TR, Frame frame)	constructor
StereoCameraModel(java.lang.String name, double fov, double width, double height, Transform3Dd TL, Transform3Dd TR, Frame frame, java.lang.String modelInfo)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(StereoCameraModel obj)
ImagePtr	getLeftImage(State state)	get left image
ImagePtr	getRightImage(State state)	get right image
static boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR)	utility function for saving a stereo calibration to a file
static boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR, StereoCameraModel.FOVDirection direction)	utility function for saving a stereo calibration to a file
static boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR, StereoCameraModel.FOVDirection direction, StereoCameraModel.CalibrationFormat format)	utility function for saving a stereo calibration to a file
void	setLeftImage(ImagePtr img, State state)	set left image
void	setRightImage(ImagePtr img, State state)	set right image
static void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T)	utility function for writing a camera calibration to a stream
static void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist)	utility function for writing a camera calibration to a stream
static void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist, StereoCameraModel.FOVDirection direction)	utility function for writing a camera calibration to a stream
static void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist, StereoCameraModel.FOVDirection direction, StereoCameraModel.CalibrationFormat format)	utility function for writing a camera calibration to a stream

Methods inherited from class org.robwork.sdurw.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

StereoCameraModel

public StereoCameraModel(long cPtr,
                         boolean cMemoryOwn)

StereoCameraModel

public StereoCameraModel(java.lang.String name,
                         double fov,
                         double width,
                         double height,
                         Transform3Dd TL,
                         Transform3Dd TR,
                         Frame frame,
                         java.lang.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

StereoCameraModel

public StereoCameraModel(java.lang.String name,
                         double fov,
                         double width,
                         double height,
                         Transform3Dd TL,
                         Transform3Dd TR,
                         Frame frame)

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

Method Detail

getCPtr

public static long getCPtr(StereoCameraModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

getLeftImage

public ImagePtr getLeftImage(State state)

get left image

setLeftImage

public void setLeftImage(ImagePtr img,
                         State state)

set left image

getRightImage

public ImagePtr getRightImage(State state)

get right image

setRightImage

public void setRightImage(ImagePtr img,
                          State state)

set right image

SaveCalibration

public static boolean SaveCalibration(java.lang.String filename,
                                      double fov,
                                      double wx,
                                      double wy,
                                      Transform3Dd TL,
                                      Transform3Dd TR,
                                      StereoCameraModel.FOVDirection direction,
                                      StereoCameraModel.CalibrationFormat format)

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

SaveCalibration

public static boolean SaveCalibration(java.lang.String filename,
                                      double fov,
                                      double wx,
                                      double wy,
                                      Transform3Dd TL,
                                      Transform3Dd TR,
                                      StereoCameraModel.FOVDirection direction)

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

Returns:

true if the file was successfully saved, false otherwise

SaveCalibration

public static boolean SaveCalibration(java.lang.String filename,
                                      double fov,
                                      double wx,
                                      double wy,
                                      Transform3Dd TL,
                                      Transform3Dd TR)

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

Returns:

true if the file was successfully saved, false otherwise

WriteCalibration

public static void WriteCalibration(SWIGTYPE_p_std__ostream os,
                                    double fov,
                                    double wx,
                                    double wy,
                                    Transform3Dd T,
                                    VectorDouble dist,
                                    StereoCameraModel.FOVDirection direction,
                                    StereoCameraModel.CalibrationFormat format)

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

WriteCalibration

public static void WriteCalibration(SWIGTYPE_p_std__ostream os,
                                    double fov,
                                    double wx,
                                    double wy,
                                    Transform3Dd T,
                                    VectorDouble dist,
                                    StereoCameraModel.FOVDirection direction)

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

WriteCalibration

public static void WriteCalibration(SWIGTYPE_p_std__ostream os,
                                    double fov,
                                    double wx,
                                    double wy,
                                    Transform3Dd T,
                                    VectorDouble dist)

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

WriteCalibration

public static void WriteCalibration(SWIGTYPE_p_std__ostream os,
                                    double fov,
                                    double wx,
                                    double wy,
                                    Transform3Dd T)

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