stereo_disparity.hpp

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#ifndef __fovis_stereo_disparity_hpp__
#define __fovis_stereo_disparity_hpp__

#include <inttypes.h>

#include "stereo_calibration.hpp"
#include "depth_source.hpp"
#include "frame.hpp"

namespace fovis
{

class StereoDisparity : public DepthSource
{
  public:
    StereoDisparity(const StereoCalibration* calib);

    ~StereoDisparity();

    void setDisparityData(const float* disparity_data);

    bool haveXyz(int u, int v);

    void getXyz(OdometryFrame* frame);

    void refineXyz(FeatureMatch* matches,
        int num_matches,
        OdometryFrame* frame);

    double getBaseline() const { return _calib->getBaseline(); }

  private:
    typedef std::vector<std::pair<double, double> > Points2d;

    bool getXyzInterp(KeypointData* kpdata);

    Eigen::Vector3d getXyzValues(int u, int v, float disparity);

    const StereoCalibration* _calib;

    int _width;
    int _height;

    Eigen::Matrix4d *_uvd1_to_xyz;

    float* _disparity_data;
};

}

#endif