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<div class="title">mrpt::utils::TStereoCamera Class Reference</div> </div>
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<!-- doxytag: class="mrpt::utils::TStereoCamera" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Structure to hold the parameters of a pinhole stereo camera model. </p>
<p>The parameters obtained for one camera resolution can be used for any other resolution by means of the method <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html#a9d33e2706c984dabe6d3c0cbcec18898" title="Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is...">TCamera::scaleToResolution()</a></p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1vision_1_1_c_cam_model.html" title="This class represent a pinhole camera model for Monocular SLAM and implements some associated Jacobia...">mrpt::vision::CCamModel</a>, the application <a href="http://www.mrpt.org/Application:camera-calib-gui">camera-calib-gui</a> for calibrating a camera </dd></dl>
</div>
<p><code>#include <<a class="el" href="_t_camera_8h_source.html">mrpt/utils/TCamera.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::utils::TStereoCamera:</div>
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<div class="center"><img src="classmrpt_1_1utils_1_1_t_stereo_camera__inherit__graph.png" border="0" usemap="#mrpt_1_1utils_1_1_t_stereo_camera_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1utils_1_1_t_stereo_camera_inherit__map" id="mrpt_1_1utils_1_1_t_stereo_camera_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="12,80,176,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="27,5,161,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1utils_1_1_t_stereo_camera-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#afe4b915f3197bb313c201e5fd95fa52a">TStereoCamera</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a9212e3ed774e2268353d36b07c84a81b">saveToConfigFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &section, <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &cfg) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save as a config block: <a href="#a9212e3ed774e2268353d36b07c84a81b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ad274d3ba0983c8e34767f39f23fff62f">loadFromConfigFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &section, const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &cfg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load all the params from a config source, in the format used in <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a9212e3ed774e2268353d36b07c84a81b" title="Save as a config block:">saveToConfigFile()</a>, that is: <a href="#ad274d3ba0983c8e34767f39f23fff62f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1utils.html#a365691a582e6ffbd1028e823549b7d92">TStereoCameraModel</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#aab347a6238fa6866eab91e463b9f5451">model</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a8b421629a27e89293202a87f0adfe592">leftCamera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a165a2ecc5395109501116c51641140c0">rightCamera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a151471587972a72436e8023a8558f8e8">rightCameraPose</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1utils_1_1_t_stereo_camera_ptr.html">TStereoCameraPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a91b1d8a1a2c74b34a23bdcefe5f7b319">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a6af2b4feec08132b343c3f72662138e4">_init_TStereoCamera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#af785869b92afcd12a11c8a7a8974d6be">classTStereoCamera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ae989ab7b51b8a976607b0ae71681fbd8">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a7725f10cdbc0c7d125abb8b0c210c141">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a1b414083355dd288be3e37ba367787be">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a1b414083355dd288be3e37ba367787be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ab6a8fbe4d003f10c364378c5105be2ef">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#ab6a8fbe4d003f10c364378c5105be2ef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ae09ffa3fdcc7dc3f057374cd9834e61a">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_stereo_camera_ptr.html">TStereoCameraPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a3babc7601ecd5be5911d11d17f36fd8d">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a91b1d8a1a2c74b34a23bdcefe5f7b319"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::SmartPtr" ref="a91b1d8a1a2c74b34a23bdcefe5f7b319" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1utils_1_1_t_stereo_camera_ptr.html">TStereoCameraPtr</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a91b1d8a1a2c74b34a23bdcefe5f7b319">mrpt::utils::TStereoCamera::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00238">238</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="afe4b915f3197bb313c201e5fd95fa52a"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::TStereoCamera" ref="afe4b915f3197bb313c201e5fd95fa52a" args="()" -->
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<td class="memname">mrpt::utils::TStereoCamera::TStereoCamera </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00248">248</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
<p>References <a class="el" href="_t_camera_8h_source.html#l00073">mrpt::utils::TCamera::ncols</a>, <a class="el" href="_t_camera_8h_source.html#l00073">mrpt::utils::TCamera::nrows</a>, <a class="el" href="_t_camera_8h_source.html#l00125">mrpt::utils::TCamera::setIntrinsicParamsFromValues()</a>, <a class="el" href="_t_camera_8h_source.html#l00167">mrpt::utils::TCamera::setDistortionParamsFromValues()</a>, <a class="el" href="_t_camera_8h_source.html#l00076">mrpt::utils::TCamera::focalLengthMeters</a>, and <a class="el" href="_c_pose3_d_8h_source.html#l00041">mrpt::poses::CPose3DQuat</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a7725f10cdbc0c7d125abb8b0c210c141"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::_GetBaseClass" ref="a7725f10cdbc0c7d125abb8b0c210c141" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::utils::TStereoCamera::_GetBaseClass </td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a3babc7601ecd5be5911d11d17f36fd8d"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::Create" ref="a3babc7601ecd5be5911d11d17f36fd8d" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1utils_1_1_t_stereo_camera_ptr.html">TStereoCameraPtr</a> mrpt::utils::TStereoCamera::Create </td>
<td>(</td>
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<td><code> [static]</code></td>
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<a class="anchor" id="ae09ffa3fdcc7dc3f057374cd9834e61a"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::CreateObject" ref="ae09ffa3fdcc7dc3f057374cd9834e61a" args="()" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::utils::TStereoCamera::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
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<a class="anchor" id="ab6a8fbe4d003f10c364378c5105be2ef"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::duplicate" ref="ab6a8fbe4d003f10c364378c5105be2ef" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::utils::TStereoCamera::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a1b414083355dd288be3e37ba367787be"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::GetRuntimeClass" ref="a1b414083355dd288be3e37ba367787be" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::utils::TStereoCamera::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="ad274d3ba0983c8e34767f39f23fff62f"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::loadFromConfigFile" ref="ad274d3ba0983c8e34767f39f23fff62f" args="(const std::string &section, const mrpt::utils::CConfigFileBase &cfg)" -->
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<td class="memname">void mrpt::utils::TStereoCamera::loadFromConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>cfg</em> </td>
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<p>Load all the params from a config source, in the format used in <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a9212e3ed774e2268353d36b07c84a81b" title="Save as a config block:">saveToConfigFile()</a>, that is: </p>
<div class="fragment"><pre class="fragment"> [SECTION]
resolution = [NCOLS NROWS]
cx = CX
cy = CY
fx = FX
fy = FY
dist = [K1 K2 T1 T2 K3]
focal_length = FOCAL_LENGTH [optional field]
</pre></div> <dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>on missing fields </td></tr>
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</dd>
</dl>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a9212e3ed774e2268353d36b07c84a81b"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::saveToConfigFile" ref="a9212e3ed774e2268353d36b07c84a81b" args="(const std::string &section, mrpt::utils::CConfigFileBase &cfg) const " -->
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<td class="memname">void mrpt::utils::TStereoCamera::saveToConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>cfg</em> </td>
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<p>Save as a config block: </p>
<div class="fragment"><pre class="fragment"> [SECTION]
resolution = [NCOLS NROWS]
cx = CX
cy = CY
fx = FX
fy = FY
dist = [K1 K2 T1 T2 K3]
focal_length = FOCAL_LENGTH
</pre></div>
</div>
</div>
<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6af2b4feec08132b343c3f72662138e4"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::_init_TStereoCamera" ref="a6af2b4feec08132b343c3f72662138e4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a6af2b4feec08132b343c3f72662138e4">mrpt::utils::TStereoCamera::_init_TStereoCamera</a><code> [static, protected]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00238">238</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="ae989ab7b51b8a976607b0ae71681fbd8"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::classinfo" ref="ae989ab7b51b8a976607b0ae71681fbd8" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ae989ab7b51b8a976607b0ae71681fbd8">mrpt::utils::TStereoCamera::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00238">238</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<a class="anchor" id="af785869b92afcd12a11c8a7a8974d6be"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::classTStereoCamera" ref="af785869b92afcd12a11c8a7a8974d6be" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#af785869b92afcd12a11c8a7a8974d6be">mrpt::utils::TStereoCamera::classTStereoCamera</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00238">238</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<a class="anchor" id="a8b421629a27e89293202a87f0adfe592"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::leftCamera" ref="a8b421629a27e89293202a87f0adfe592" args="" -->
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00243">243</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<a class="anchor" id="aab347a6238fa6866eab91e463b9f5451"></a><!-- doxytag: member="mrpt::utils::TStereoCamera::model" ref="aab347a6238fa6866eab91e463b9f5451" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1utils.html#a365691a582e6ffbd1028e823549b7d92">TStereoCameraModel</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#aab347a6238fa6866eab91e463b9f5451">mrpt::utils::TStereoCamera::model</a></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00242">242</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a165a2ecc5395109501116c51641140c0">mrpt::utils::TStereoCamera::rightCamera</a></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00243">243</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#a151471587972a72436e8023a8558f8e8">mrpt::utils::TStereoCamera::rightCameraPose</a></td>
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<p>Definition at line <a class="el" href="_t_camera_8h_source.html#l00244">244</a> of file <a class="el" href="_t_camera_8h_source.html">TCamera.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
