Class StereoProcessor

Defined in File stereo_processor.hpp

Class Documentation

class StereoProcessor

Public Types

enum StereoType

Values:

enumerator BM

enumerator SGBM

Values:

enumerator LEFT_MONO

enumerator LEFT_RECT

enumerator LEFT_COLOR

enumerator LEFT_RECT_COLOR

enumerator RIGHT_MONO

enumerator RIGHT_RECT

enumerator RIGHT_COLOR

enumerator RIGHT_RECT_COLOR

enumerator DISPARITY

enumerator POINT_CLOUD

enumerator POINT_CLOUD2

enumerator LEFT_ALL

enumerator RIGHT_ALL

enumerator STEREO_ALL

enumerator ALL

Public Functions

inline StereoProcessor()

inline StereoType getStereoType() const

inline void setStereoType(StereoType type)

inline int getInterpolation() const

inline void setInterpolation(int interp)

inline int getPreFilterCap() const

inline void setPreFilterCap(int param)

inline int getCorrelationWindowSize() const

inline void setCorrelationWindowSize(int param)

inline int getMinDisparity() const

inline void setMinDisparity(int param)

inline int getDisparityRange() const

inline void setDisparityRange(int param)

inline float getUniquenessRatio() const

inline void setUniquenessRatio(float param)

inline int getSpeckleSize() const

inline void setSpeckleSize(int param)

inline int getSpeckleRange() const

inline void setSpeckleRange(int param)

inline int getPreFilterSize() const

inline void setPreFilterSize(int param)

inline int getTextureThreshold() const

inline void setTextureThreshold(int param)

inline int getSgbmMode() const

inline void setSgbmMode(int param)

inline int getP1() const

inline void setP1(int param)

inline int getP2() const

inline void setP2(int param)

inline int getDisp12MaxDiff() const

inline void setDisp12MaxDiff(int param)

bool process(const sensor_msgs::msg::Image::ConstSharedPtr &left_raw, const sensor_msgs::msg::Image::ConstSharedPtr &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::msg::DisparityImage &disparity) const

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

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