TStereoCamera.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  TStereoCamera_H
#define  TStereoCamera_H

#include <mrpt/utils/TCamera.h>

namespace mrpt
{
        namespace utils
        {
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( TStereoCamera, mrpt::utils::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()
                  *
                  * \sa mrpt::vision, the application stereo-calib-gui for calibrating a stereo camera
                 */
        class BASE_IMPEXP TStereoCamera : public mrpt::utils::CSerializable
                {
            DEFINE_SERIALIZABLE( TStereoCamera )
        public:
                    TCamera     leftCamera, rightCamera;  //!< Intrinsic and distortion parameters of the left and right cameras
                    mrpt::poses::CPose3DQuat rightCameraPose;  //!< Pose of the right camera with respect to the coordinate origin of the left camera

            // Default constructor:
                    TStereoCamera();

                    /**  Save all params to a plain text config file in this format:
                          *  \code
                          *  [<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]
                          *
                          *  \endcode
                          *   Notice that 3 different sections are read, of which "section" is only the prefix.
                          */
                        void saveToConfigFile( const std::string &section, mrpt::utils::CConfigFileBase &cfg ) const;

                        /**  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.
                          *  \exception std::exception on missing fields
                          */
                        void loadFromConfigFile(const std::string &section, const mrpt::utils::CConfigFileBase &cfg );
                        /** overload This signature is consistent with the rest of MRPT APIs */
                        inline void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg,const std::string &section) { loadFromConfigFile(section,cfg); }

                        /** Dumps all the parameters as a multi-line string, with the same format than \a saveToConfigFile.  \sa saveToConfigFile */
                        std::string dumpAsText() const;

                        /** Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).
                          */
                        void scaleToResolution(unsigned int new_ncols, unsigned int new_nrows)
                        {
                                leftCamera.scaleToResolution(new_ncols,new_nrows);
                                rightCamera.scaleToResolution(new_ncols,new_nrows);
                        }

                }; // end class TStereoCamera
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( TStereoCamera, mrpt::utils::CSerializable )

        } // End of namespace
} // end of namespace
#endif