|
| GrayStereoMatching (void) |
|
virtual | ~GrayStereoMatching (void) |
|
virtual void | compute (unsigned char *ref_img, unsigned char *trg_img, int width, int height) |
| stereo processing, it computes a disparity map stored internally by the class More...
|
|
virtual void | compute (pcl::PointCloud< pcl::RGB > &ref, pcl::PointCloud< pcl::RGB > &trg) |
| stereo processing, it computes a disparity map stored internally by the class More...
|
|
| StereoMatching (void) |
|
virtual | ~StereoMatching (void) |
|
void | setMaxDisparity (int max_disp) |
| setter for number of disparity candidates (disparity range) More...
|
|
void | setXOffset (int x_off) |
| setter for horizontal offset, i.e. More...
|
|
void | setRatioFilter (int ratio_filter) |
| setter for the value of the ratio filter More...
|
|
void | setPeakFilter (int peak_filter) |
| setter for the value of the peak filter More...
|
|
void | setPreProcessing (bool is_pre_proc) |
| setter for the pre processing step More...
|
|
void | setLeftRightCheck (bool is_lr_check) |
| setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity values from the disparity map at approx. More...
|
|
void | setLeftRightCheckThreshold (int lr_check_th) |
| setter for the left-right consistency check threshold More...
|
|
void | medianFilter (int radius) |
| median filter applied on the previously computed disparity map Note: the "compute" method must have been previously called at least once in order for this function to have any effect More...
|
|
virtual bool | getPointCloud (float u_c, float v_c, float focal, float baseline, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud) |
| computation of the 3D point cloud from the previously computed disparity map without color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect More...
|
|
virtual bool | getPointCloud (float u_c, float v_c, float focal, float baseline, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::RGB >::Ptr texture) |
| computation of the 3D point cloud from the previously computed disparity map including color information Note: the "compute" method must have been previously called at least once in order for this function to have any effect More...
|
|
void | getVisualMap (pcl::PointCloud< pcl::RGB >::Ptr vMap) |
| computation of a pcl::RGB cloud with scaled disparity values it can be used to display a rescaled version of the disparity map by means of the pcl::ImageViewer invalid disparity values are shown in green Note: the "compute" method must have been previously called at least once in order for this function to have any effect More...
|
|
|
virtual void | compute_impl (unsigned char *ref_img, unsigned char *trg_img)=0 |
|
virtual void | preProcessing (unsigned char *img, unsigned char *pp_img) |
|
virtual void | imgFlip (unsigned char *&img) |
|
void | leftRightCheck () |
|
short int | computeStereoSubpixel (int dbest, int s1, int s2, int s3) |
|
short int | computeStereoSubpixel (int dbest, float s1, float s2, float s3) |
|
short int | doStereoRatioFilter (int *acc, short int dbest, int sad_min, int ratio_filter, int maxdisp, int precision=100) |
|
short int | doStereoRatioFilter (float *acc, short int dbest, float sad_min, int ratio_filter, int maxdisp, int precision=100) |
|
short int | doStereoPeakFilter (int *acc, short int dbest, int peak_filter, int maxdisp) |
|
short int | doStereoPeakFilter (float *acc, short int dbest, int peak_filter, int maxdisp) |
|
Stereo Matching abstract class for Grayscale images.
The class implements some functionalities of pcl::StereoMatching specific for grayscale stereo processing, such as image pre-processing and left
- Author
- Federico Tombari (feder.nosp@m.ico..nosp@m.tomba.nosp@m.ri@u.nosp@m.nibo..nosp@m.it)
Definition at line 357 of file stereo_matching.h.