Stereo.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
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13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
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16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef STEREO_H_
29 #define STEREO_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
34 #include <opencv2/core/core.hpp>
35 
36 namespace rtabmap {
37 
39 public:
40  static Stereo * create(const ParametersMap & parameters = ParametersMap());
41 
42 public:
43  Stereo(const ParametersMap & parameters = ParametersMap());
44  virtual ~Stereo() {}
45 
46  virtual void parseParameters(const ParametersMap & parameters);
47  virtual std::vector<cv::Point2f> computeCorrespondences(
48  const cv::Mat & leftImage,
49  const cv::Mat & rightImage,
50  const std::vector<cv::Point2f> & leftCorners,
51  std::vector<unsigned char> & status) const;
52 
53  cv::Size winSize() const {return cv::Size(winWidth_, winHeight_);}
54  int iterations() const {return iterations_;}
55  int maxLevel() const {return maxLevel_;}
56  float minDisparity() const {return minDisparity_;}
57  float maxDisparity() const {return maxDisparity_;}
58  bool winSSD() const {return winSSD_;}
59 
60 private:
61  int winWidth_;
64  int maxLevel_;
67  bool winSSD_;
68 };
69 
71 public:
72  StereoOpticalFlow(const ParametersMap & parameters = ParametersMap());
73  virtual ~StereoOpticalFlow() {}
74 
75  virtual void parseParameters(const ParametersMap & parameters);
76  virtual std::vector<cv::Point2f> computeCorrespondences(
77  const cv::Mat & leftImage,
78  const cv::Mat & rightImage,
79  const std::vector<cv::Point2f> & leftCorners,
80  std::vector<unsigned char> & status) const;
81 
82  float epsilon() const {return epsilon_;}
83 
84 private:
85  float epsilon_;
86 };
87 
88 } /* namespace rtabmap */
89 
90 #endif /* STEREO_H_ */
float epsilon() const
Definition: Stereo.h:82
float minDisparity_
Definition: Stereo.h:65
cv::Size winSize() const
Definition: Stereo.h:53
float maxDisparity_
Definition: Stereo.h:66
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
int winHeight_
Definition: Stereo.h:62
int maxLevel_
Definition: Stereo.h:64
virtual ~StereoOpticalFlow()
Definition: Stereo.h:73
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
int iterations() const
Definition: Stereo.h:54
float minDisparity() const
Definition: Stereo.h:56
bool winSSD_
Definition: Stereo.h:67
int winWidth_
Definition: Stereo.h:61
float maxDisparity() const
Definition: Stereo.h:57
virtual ~Stereo()
Definition: Stereo.h:44
bool winSSD() const
Definition: Stereo.h:58
int maxLevel() const
Definition: Stereo.h:55
int iterations_
Definition: Stereo.h:63


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06