frame_common::FrameProc Class Reference

FrameProc is a processing engine for setting keypoints and descriptors in a frame. More...

#include <frame.h>

Public Member Functions
	FrameProc (int v=25)
void	setFrameDescriptor (const cv::Ptr< cv::DescriptorExtractor > &extractor)
	Set the descriptor extractor.
void	setFrameDetector (const cv::Ptr< cv::FeatureDetector > &detector)
	Set the feature detector.
void	setMonoFrame (Frame &frame, const cv::Mat &img, const cv::Mat &mask=cv::Mat())
	Set up a monocular frame from the passed in OpenCV image and fill the given frame.
void	setStereoFrame (Frame &frame, const cv::Mat &img, const cv::Mat &imgr, const cv::Mat &left_mask, int nfrac=0, bool setPointCloud=false)
	Set up stereo frame, assumes frame has camera parameters already set.
void	setStereoFrame (Frame &frame, const cv::Mat &img, const cv::Mat &imgr, int nfrac=0, bool setPointCloud=false)
	Set up stereo frame, assumes frame has camera parameters already set.
void	setStereoPoints (Frame &frame, int nfrac=0, bool setPointCloud=false)
	Do stereo processing on the frame, assuming descriptors and extractors are already set.
Public Attributes
cv::Ptr< cv::FeatureDetector >	detector
	Feature Detector used for finding features in the image.
bool	doSparse
	True if using sparse stereo.
cv::Ptr< cv::DescriptorExtractor >	extractor
	Descriptor Extractor used for getting descriptors around image features.
int	ndisp
	Number of disparities to search.

Detailed Description

FrameProc is a processing engine for setting keypoints and descriptors in a frame.

Definition at line 133 of file frame.h.

frame_common::FrameProc::FrameProc ( int v = 25 )

Create a FrameProc object using FAST feature detector (with a given threshold v) and SURF feature extractor.

Definition at line 159 of file frame.cpp.

void frame_common::FrameProc::setFrameDescriptor ( const cv::Ptr< cv::DescriptorExtractor > & extractor )

Set the descriptor extractor.

Definition at line 178 of file frame.cpp.

void frame_common::FrameProc::setFrameDetector ( const cv::Ptr< cv::FeatureDetector > & detector )

Set the feature detector.

Definition at line 173 of file frame.cpp.

void frame_common::FrameProc::setMonoFrame	(	Frame &	frame,
		const cv::Mat &	img,
		const cv::Mat &	mask = `cv::Mat()`
	)

Set up a monocular frame from the passed in OpenCV image and fill the given frame.

Parameters:

Definition at line 184 of file frame.cpp.

void frame_common::FrameProc::setStereoFrame	(	Frame &	frame,
		const cv::Mat &	img,
		const cv::Mat &	imgr,
		const cv::Mat &	left_mask,
		int	nfrac = `0`,
		bool	setPointCloud = `false`
	)

Set up stereo frame, assumes frame has camera parameters already set.

Parameters:

	frame	The frame to be processed.
	img	Left camera image.
	imgr	Right camera image.
	nfrac	Fractional disparity. If above 0, then imgr is a disparity image instead.
	mask	ROI for left image
	setPointCloud.	True if point cloud is to be set up from disparities

Definition at line 204 of file frame.cpp.

void frame_common::FrameProc::setStereoFrame	(	Frame &	frame,
		const cv::Mat &	img,
		const cv::Mat &	imgr,
		int	nfrac = `0`,
		bool	setPointCloud = `false`
	)

Set up stereo frame, assumes frame has camera parameters already set.

Parameters:

	frame	The frame to be processed.
	img	Left camera image.
	imgr	Right camera image.
	nfrac	Fractional disparity. If above 0, then imgr is a 16-bit fractional disparity image instead, with <nfrac> counts per pixel disparity
	setPointCloud.	True if point cloud is to be set up from disparities

Definition at line 217 of file frame.cpp.

void frame_common::FrameProc::setStereoPoints	(	Frame &	frame,
		int	nfrac = `0`,
		bool	setPointCloud = `false`
	)

Do stereo processing on the frame, assuming descriptors and extractors are already set.

Parameters:

	frame	The frame to process.
	nfrac	Fractional disparity. If above 0, then stereo disparities have already been passed in.
	setPointCloud.	True if point cloud is to be set up from disparities

Definition at line 224 of file frame.cpp.