stereo_image_proc::StereoProcessor Class Reference

#include <processor.h>

List of all members.

Public Types
enum	{   LEFT_MONO = 1 << 0, LEFT_RECT = 1 << 1, LEFT_COLOR = 1 << 2, LEFT_RECT_COLOR = 1 << 3,   RIGHT_MONO = 1 << 4, RIGHT_RECT = 1 << 5, RIGHT_COLOR = 1 << 6, RIGHT_RECT_COLOR = 1 << 7,   DISPARITY = 1 << 8, POINT_CLOUD = 1 << 9, POINT_CLOUD2 = 1 << 10, LEFT_ALL = LEFT_MONO | LEFT_RECT | LEFT_COLOR | LEFT_RECT_COLOR,   RIGHT_ALL = RIGHT_MONO | RIGHT_RECT | RIGHT_COLOR | RIGHT_RECT_COLOR, STEREO_ALL = DISPARITY | POINT_CLOUD | POINT_CLOUD2, ALL = LEFT_ALL | RIGHT_ALL | STEREO_ALL }
Public Member Functions
int	getCorrelationWindowSize () const
int	getDisparityRange () const
int	getInterpolation () const
int	getMinDisparity () const
int	getPreFilterCap () const
int	getPreFilterSize () const
int	getSpeckleRange () const
int	getSpeckleSize () const
int	getTextureThreshold () const
float	getUniquenessRatio () const
bool	process (const sensor_msgs::ImageConstPtr &left_raw, const sensor_msgs::ImageConstPtr &right_raw, const image_geometry::StereoCameraModel &model, StereoImageSet &output, int flags) const
void	processDisparity (const cv::Mat &left_rect, const cv::Mat &right_rect, const image_geometry::StereoCameraModel &model, stereo_msgs::DisparityImage &disparity) const
void	processPoints (const stereo_msgs::DisparityImage &disparity, const cv::Mat &color, const std::string &encoding, const image_geometry::StereoCameraModel &model, sensor_msgs::PointCloud &points) const
void	processPoints2 (const stereo_msgs::DisparityImage &disparity, const cv::Mat &color, const std::string &encoding, const image_geometry::StereoCameraModel &model, sensor_msgs::PointCloud2 &points) const
void	setCorrelationWindowSize (int size)
void	setDisparityRange (int range)
void	setInterpolation (int interp)
void	setMinDisparity (int min_d)
void	setPreFilterCap (int cap)
void	setPreFilterSize (int size)
void	setSpeckleRange (int range)
void	setSpeckleSize (int size)
void	setTextureThreshold (int threshold)
void	setUniquenessRatio (float ratio)
	StereoProcessor ()
Private Attributes
cv::StereoBM	block_matcher_
cv::Mat_< cv::Vec3f >	dense_points_
cv::Mat_< int16_t >	disparity16_
cv::Mat_< uint32_t >	labels_
image_proc::Processor	mono_processor_
cv::Mat_< uint8_t >	region_types_
cv::Mat_< uint32_t >	wavefront_

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Detailed Description

Definition at line 20 of file processor.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

LEFT_MONO
LEFT_RECT
LEFT_COLOR
LEFT_RECT_COLOR
RIGHT_MONO
RIGHT_RECT
RIGHT_COLOR
RIGHT_RECT_COLOR
DISPARITY
POINT_CLOUD
POINT_CLOUD2
LEFT_ALL
RIGHT_ALL
STEREO_ALL
ALL

Definition at line 29 of file processor.h.

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Constructor & Destructor Documentation

stereo_image_proc::StereoProcessor::StereoProcessor

(

)

[inline]

Definition at line 24 of file processor.h.

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Member Function Documentation

int stereo_image_proc::StereoProcessor::getCorrelationWindowSize

(

)

const [inline]

Definition at line 147 of file processor.h.

int stereo_image_proc::StereoProcessor::getDisparityRange

(

)

const [inline]

Definition at line 167 of file processor.h.

int stereo_image_proc::StereoProcessor::getInterpolation

(

)

const [inline]

Definition at line 117 of file processor.h.

int stereo_image_proc::StereoProcessor::getMinDisparity

(

)

const [inline]

Definition at line 157 of file processor.h.

int stereo_image_proc::StereoProcessor::getPreFilterCap

(

)

const [inline]

Definition at line 137 of file processor.h.

int stereo_image_proc::StereoProcessor::getPreFilterSize

(

)

const [inline]

Definition at line 127 of file processor.h.

int stereo_image_proc::StereoProcessor::getSpeckleRange

(

)

const [inline]

Definition at line 207 of file processor.h.

int stereo_image_proc::StereoProcessor::getSpeckleSize

(

)

const [inline]

Definition at line 197 of file processor.h.

int stereo_image_proc::StereoProcessor::getTextureThreshold

(

)

const [inline]

Definition at line 177 of file processor.h.

float stereo_image_proc::StereoProcessor::getUniquenessRatio

(

)

const [inline]

Definition at line 187 of file processor.h.

bool stereo_image_proc::StereoProcessor::process	(	const sensor_msgs::ImageConstPtr &	left_raw,
		const sensor_msgs::ImageConstPtr &	right_raw,
		const image_geometry::StereoCameraModel &	model,
		StereoImageSet &	output,
		int	flags
	)			const

Definition at line 5 of file processor.cpp.

void stereo_image_proc::StereoProcessor::processDisparity	(	const cv::Mat &	left_rect,
		const cv::Mat &	right_rect,
		const image_geometry::StereoCameraModel &	model,
		stereo_msgs::DisparityImage &	disparity
	)			const

Todo:

is_bigendian? :)

Todo:

Window of (potentially) valid disparities

Definition at line 46 of file processor.cpp.

void stereo_image_proc::StereoProcessor::processPoints	(	const stereo_msgs::DisparityImage &	disparity,
		const cv::Mat &	color,
		const std::string &	encoding,
		const image_geometry::StereoCameraModel &	model,
		sensor_msgs::PointCloud &	points
	)			const

Definition at line 90 of file processor.cpp.

void stereo_image_proc::StereoProcessor::processPoints2	(	const stereo_msgs::DisparityImage &	disparity,
		const cv::Mat &	color,
		const std::string &	encoding,
		const image_geometry::StereoCameraModel &	model,
		sensor_msgs::PointCloud2 &	points
	)			const

Definition at line 167 of file processor.cpp.

void stereo_image_proc::StereoProcessor::setCorrelationWindowSize

(

int

size

)

[inline]

Definition at line 152 of file processor.h.

void stereo_image_proc::StereoProcessor::setDisparityRange

(

int

range

)

[inline]

Definition at line 172 of file processor.h.

void stereo_image_proc::StereoProcessor::setInterpolation

(

int

interp

)

[inline]

Definition at line 122 of file processor.h.

void stereo_image_proc::StereoProcessor::setMinDisparity

(

int

min_d

)

[inline]

Definition at line 162 of file processor.h.

void stereo_image_proc::StereoProcessor::setPreFilterCap

(

int

cap

)

[inline]

Definition at line 142 of file processor.h.

void stereo_image_proc::StereoProcessor::setPreFilterSize

(

int

size

)

[inline]

Definition at line 132 of file processor.h.

void stereo_image_proc::StereoProcessor::setSpeckleRange

(

int

range

)

[inline]

Definition at line 212 of file processor.h.

void stereo_image_proc::StereoProcessor::setSpeckleSize

(

int

size

)

[inline]

Definition at line 202 of file processor.h.

void stereo_image_proc::StereoProcessor::setTextureThreshold

(

int

threshold

)

[inline]

Definition at line 182 of file processor.h.

void stereo_image_proc::StereoProcessor::setUniquenessRatio

(

float

ratio

)

[inline]

Definition at line 192 of file processor.h.

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Member Data Documentation

cv::StereoBM stereo_image_proc::StereoProcessor::block_matcher_ [mutable, private]

Definition at line 107 of file processor.h.

cv::Mat_<cv::Vec3f> stereo_image_proc::StereoProcessor::dense_points_ [mutable, private]

Definition at line 113 of file processor.h.

cv::Mat_<int16_t> stereo_image_proc::StereoProcessor::disparity16_ [mutable, private]

Definition at line 106 of file processor.h.

cv::Mat_<uint32_t> stereo_image_proc::StereoProcessor::labels_ [mutable, private]

Definition at line 109 of file processor.h.

image_proc::Processor stereo_image_proc::StereoProcessor::mono_processor_ [private]

Definition at line 104 of file processor.h.

cv::Mat_<uint8_t> stereo_image_proc::StereoProcessor::region_types_ [mutable, private]

Definition at line 111 of file processor.h.

cv::Mat_<uint32_t> stereo_image_proc::StereoProcessor::wavefront_ [mutable, private]

Definition at line 110 of file processor.h.

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

• processor.h
• processor.cpp