crl::multisense::image::Calibration Class Reference

Class used For querying/setting camera calibration. More...

#include <MultiSenseTypes.hh>

Collaboration diagram for crl::multisense::image::Calibration:

Classes
class	Data
	Class to store camera calibration matrices. More...

Public Attributes
Data	left
	Full resolution camera calibration corresponding to the left camera. More...
Data	right
	Full resolution camera calibration corresponding to the right camera. More...
Data	aux
	Full resolution camera calibration corresponding to aux color camera. More...

Detailed Description

Class used For querying/setting camera calibration.

Parameters are for the maximum operating resolution of the device: CMV2000: 2048x1088 CVM4000: 2048x2048

Example code to querying the current camera calibration from a sensor:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a image::Calibration instance to store the queried calibration
crl::multisense::image::Calibration imageCalibration;
 
//
// Query the camera calibration from the Channel instance
crl::multisense::Status status = channel->getImageCalibration(imageCalibration);
 
//
// Check to see if the calibration query succeeded
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query image calibration");
}
 
//
// Use the image calibration...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set a camera calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a image::Calibration instance to store the queried calibration
crl::multisense::image::Calibration imageCalibration;
 
//
// Initialize left and right calibration matrices.
// In this example we are using arbitrary values. These should be
// parameters generated from stereo calibration routine. All sensors
// ship pre-calibrated so this operation is unnecessary.
imageCalibration.left.M  = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.right.M = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.left.D  = { 1, 1, 1, 1, 1, 0, 0, 0 };
imageCalibration.right.D = { 1, 1, 1, 1, 1, 0, 0, 0 };
imageCalibration.left.R  = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.right.R = { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} };
imageCalibration.left.P  = { {1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0} };
imageCalibration.right.P = { {1, 0, 0, 1}, {0, 1, 0, 0}, {0, 0, 1, 0} };
 
//
// Send the new camera calibration to the sensor
crl::multisense::Status status = channel->setImageCalibration(imageCalibration);
 
//
// Check to see if the sensor successfully received the new camera calibration
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set image calibration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 1543 of file MultiSenseTypes.hh.

Member Data Documentation

aux

Data crl::multisense::image::Calibration::aux

Full resolution camera calibration corresponding to aux color camera.

Definition at line 1568 of file MultiSenseTypes.hh.

left

Data crl::multisense::image::Calibration::left

Full resolution camera calibration corresponding to the left camera.

Definition at line 1564 of file MultiSenseTypes.hh.

right

Data crl::multisense::image::Calibration::right

Full resolution camera calibration corresponding to the right camera.

Definition at line 1566 of file MultiSenseTypes.hh.

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

• /home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh