This module provides an interface for defining and accessing the different cameras attached to the rover. More...

Classes
class	cam::Camera
	Represents a camera on the rover, from which a video feed can be retrieved. More...

class	cam::invalid_camera_config
	Exception for errors in the camera configuration. More...

struct	cam::CameraConfig
	A struct that represents the information outlined in Camera Configuration. More...

class	cam::CameraParams
	Represents a set of intrinsic camera parameters. More...

Functions
CameraConfig	cam::readConfigFromFile (const std::string &filename)
	Read the camera config from the specified file.

void	cam::read (const cv::FileNode &node, CameraParams &params, const CameraParams &default_value=CameraParams())
	Reads a CameraParams object from the given cv::FileNode object.

void	cam::write (cv::FileStorage &fs, const std::string &name, const CameraParams &params)
	Writes the given CameraParams object to the given cv::FileStorage object.

Configuration File Keys
The following are constants for the keys used in the camera configuration files. See Camera Configuration for more details.
const std::string	cam::KEY_FILENAME = "filename"
	Config file key for camera filename.

const std::string	cam::KEY_CAMERA_ID = "camera_id"
	Config file key for camera id.

const std::string	cam::KEY_INTRINSIC_PARAMS = "intrinsic_params"
	Config file key for intrinsic parameters.

const std::string	cam::KEY_EXTRINSIC_PARAMS = "extrinsic_params"
	Config file key for extrinsic parameters.

const std::string	cam::KEY_CALIB_INFO = "calib_info"
	Config file key for calibration information.

const std::string	cam::KEY_NAME = "name"
	Config file key for camera name.

const std::string	cam::KEY_DESCRIPTION = "description"
	Config file key for camera description.

const std::string	cam::KEY_IMAGE_WIDTH = "image_width"
	Config file key for image width.

const std::string	cam::KEY_IMAGE_HEIGHT = "image_height"
	Config file key for image height.

const std::string	cam::KEY_CAMERA_MATRIX = "camera_matrix"
	Config file key for the camera matrix.

const std::string	cam::KEY_DIST_COEFFS = "distortion_coefficients"
	Config file key for the distortion coefficients.

Detailed Description

This module provides an interface for defining and accessing the different cameras attached to the rover.

Cameras can be defined in YAML files (see Camera Configuration) and opened using these files at runtime (see Camera::openFromConfigFile()).

Function Documentation

Reads a CameraParams object from the given cv::FileNode object.

Used for serialization - you should not need to call this method directly but should instead use the >> operator on a cv::FileNode object.

CameraConfig cam::readConfigFromFile ( const std::string & filename )

Read the camera config from the specified file.

Parameters

filename The path to the configuration file to open and read. Configuration file should be formatted as described in Camera Configuration.

Exceptions

invalid_camera_config	If the configuration is invalid for any reason.
invalid_argument	If the file does not exist.

Writes the given CameraParams object to the given cv::FileStorage object.

Used for serialization - you should not need to call this method directly but should instead use the << operator on a cv::FileStorage object.