Stores image data for a stereo camera pair. More...

#include <stereo_depth.hpp>

Inheritance diagram for fovis::StereoDepth:

Public Member Functions
virtual double	getBaseline () const
virtual void	getXyz (OdometryFrame *frame)
virtual bool	haveXyz (int u, int v)
virtual void	refineXyz (FeatureMatch matches, int num_matches, OdometryFrame frame)
void	setRightImage (const uint8_t *img)
	StereoDepth (const StereoCalibration *calib, const VisualOdometryOptions &options)
	~StereoDepth ()
Private Types
typedef std::vector< std::pair < double, double > >	Points2d
Private Member Functions
void	leftRightMatch (PyramidLevel left_level, PyramidLevel right_level, Points2d *matched_right_keypoints)
Private Attributes
const StereoCalibration *	_calib
int	_fast_threshold
float	_fast_threshold_adaptive_gain
int	_fast_threshold_max
int	_fast_threshold_min
int	_feature_window_size
int	_height
std::vector< std::vector< int > >	_legal_matches
std::vector< Points2d >	_matched_right_keypoints_per_level
FeatureMatcher	_matcher
FeatureMatch *	_matches
int	_matches_capacity
int	_max_disparity
double	_max_dist_epipolar_line
double	_max_refinement_displacement
int	_num_matches
int	_num_pyramid_levels
const VisualOdometryOptions	_options
bool	_require_mutual_match
StereoFrame *	_right_frame
int	_target_pixels_per_feature
bool	_use_adaptive_threshold
Eigen::Matrix4d *	_uvd1_to_xyz
int	_width

Detailed Description

Stores image data for a stereo camera pair.

TODO

Definition at line 24 of file stereo_depth.hpp.

Member Typedef Documentation

typedef std::vector<std::pair<double, double> > fovis::StereoDepth::Points2d [private]

Definition at line 45 of file stereo_depth.hpp.

Constructor & Destructor Documentation

fovis::StereoDepth::StereoDepth	(	const StereoCalibration *	calib,
		const VisualOdometryOptions &	options
	)

Definition at line 24 of file stereo_depth.cpp.

fovis::StereoDepth::~StereoDepth ( )

Definition at line 58 of file stereo_depth.cpp.

Member Function Documentation

virtual double fovis::StereoDepth::getBaseline ( ) const [inline, virtual]

Return baseline of depth source, if applicable. If not applicable (e.g. for OpenNI devices) return 0.

Implements fovis::DepthSource.

Definition at line 42 of file stereo_depth.hpp.

void fovis::StereoDepth::getXyz ( OdometryFrame * frame ) [virtual]

Populate keypoints in frame with XYZ data.

Implements fovis::DepthSource.

Definition at line 184 of file stereo_depth.cpp.

bool fovis::StereoDepth::haveXyz	(	int	u,
		int	v
	)		`[virtual]`

This should return true if it's not certain there's no depth at (u,v). It should be an inexpensive check that is used to avoid pointless (hah!) creation of keypoints. False positives are fine as ling as getXyz gets rid of them.

Implements fovis::DepthSource.

Definition at line 178 of file stereo_depth.cpp.