Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed. More...

#include <stereo_disparity.hpp>

Inheritance diagram for fovis::StereoDisparity:

Public Member Functions
double	getBaseline () const
void	getXyz (OdometryFrame *frame)
bool	haveXyz (int u, int v)
void	refineXyz (FeatureMatch matches, int num_matches, OdometryFrame frame)
void	setDisparityData (const float *disparity_data)
	StereoDisparity (const StereoCalibration *calib)
	~StereoDisparity ()
Private Types
typedef std::vector< std::pair < double, double > >	Points2d
Private Member Functions
bool	getXyzInterp (KeypointData *kpdata)
	Interpolate feature position of a non-unit uvd using the 4 neighbouring pixels.
Eigen::Vector3d	getXyzValues (int u, int v, float disparity)
	Given a uvd, determine the xyz reprojection position.
Private Attributes
const StereoCalibration *	_calib
float *	_disparity_data
int	_height
Eigen::Matrix4d *	_uvd1_to_xyz
int	_width

Detailed Description

Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed.

Supports VO where input is left and disparity. No right image required. Disparity values are floats with no disparity values given by disparity==0 Similar in concept to DepthImage and PrimesenseDepth

Definition at line 22 of file stereo_disparity.hpp.

Member Typedef Documentation

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

Definition at line 47 of file stereo_disparity.hpp.

Constructor & Destructor Documentation

fovis::StereoDisparity::StereoDisparity ( const StereoCalibration * calib )

Definition at line 11 of file stereo_disparity.cpp.

fovis::StereoDisparity::~StereoDisparity ( )

Definition at line 20 of file stereo_disparity.cpp.

Member Function Documentation

double fovis::StereoDisparity::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 44 of file stereo_disparity.hpp.

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

Populate keypoints in frame with XYZ data.

Implements fovis::DepthSource.

Definition at line 57 of file stereo_disparity.cpp.

bool fovis::StereoDisparity::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 35 of file stereo_disparity.cpp.