Public Types | Public Member Functions | Private Attributes | List of all members
stereo_image_proc::StereoProcessor Class Reference

#include <processor.h>

Public Types

enum  {
  LEFT_MONO = 1 << 0, LEFT_RECT = 1 << 1, LEFT_COLOR = 1 << 2, LEFT_RECT_COLOR = 1 << 3,
  RIGHT_MONO = 1 << 4, RIGHT_RECT = 1 << 5, RIGHT_COLOR = 1 << 6, RIGHT_RECT_COLOR = 1 << 7,
  DISPARITY = 1 << 8, POINT_CLOUD = 1 << 9, POINT_CLOUD2 = 1 << 10, LEFT_ALL = LEFT_MONO | LEFT_RECT | LEFT_COLOR | LEFT_RECT_COLOR,
  RIGHT_ALL = RIGHT_MONO | RIGHT_RECT | RIGHT_COLOR | RIGHT_RECT_COLOR, STEREO_ALL = DISPARITY | POINT_CLOUD | POINT_CLOUD2, ALL = LEFT_ALL | RIGHT_ALL | STEREO_ALL
}
 
enum  StereoType { BM, SGBM }
 

Public Member Functions

int getCorrelationWindowSize () const
 
int getDisp12MaxDiff () const
 
int getDisparityRange () const
 
int getInterpolation () const
 
int getMinDisparity () const
 
int getP1 () const
 
int getP2 () const
 
int getPreFilterCap () const
 
int getPreFilterSize () const
 
int getSgbmMode () const
 
int getSpeckleRange () const
 
int getSpeckleSize () const
 
StereoType getStereoType () const
 
int getTextureThreshold () const
 
float getUniquenessRatio () const
 
bool process (const sensor_msgs::ImageConstPtr &left_raw, const sensor_msgs::ImageConstPtr &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::DisparityImage &disparity) const
 
void processPoints (const stereo_msgs::DisparityImage &disparity, const cv::Mat &color, const std::string &encoding, const image_geometry::StereoCameraModel &model, sensor_msgs::PointCloud &points) const
 
void processPoints2 (const stereo_msgs::DisparityImage &disparity, const cv::Mat &color, const std::string &encoding, const image_geometry::StereoCameraModel &model, sensor_msgs::PointCloud2 &points) const
 
void setCorrelationWindowSize (int size)
 
void setDisp12MaxDiff (int disp12MaxDiff)
 
void setDisparityRange (int range)
 
void setInterpolation (int interp)
 
void setMinDisparity (int min_d)
 
void setP1 (int P1)
 
void setP2 (int P2)
 
void setPreFilterCap (int cap)
 
void setPreFilterSize (int size)
 
void setSgbmMode (int fullDP)
 
void setSpeckleRange (int range)
 
void setSpeckleSize (int size)
 
void setStereoType (StereoType type)
 
void setTextureThreshold (int threshold)
 
void setUniquenessRatio (float ratio)
 
 StereoProcessor ()
 

Private Attributes

cv::StereoBM block_matcher_
 
StereoType current_stereo_algorithm_
 
cv::Mat_< cv::Vec3f > dense_points_
 
cv::Mat_< int16_t > disparity16_
 
image_proc::Processor mono_processor_
 
cv::StereoSGBM sg_block_matcher_
 

Detailed Description

Definition at line 54 of file processor.h.

Member Enumeration Documentation

anonymous enum
Enumerator
LEFT_MONO 
LEFT_RECT 
LEFT_COLOR 
LEFT_RECT_COLOR 
RIGHT_MONO 
RIGHT_RECT 
RIGHT_COLOR 
RIGHT_RECT_COLOR 
DISPARITY 
POINT_CLOUD 
POINT_CLOUD2 
LEFT_ALL 
RIGHT_ALL 
STEREO_ALL 
ALL 

Definition at line 75 of file processor.h.

enum stereo_image_proc::StereoProcessor::StereoType
Enumerator
BM 
SGBM 

Definition at line 70 of file processor.h.

Constructor & Destructor Documentation

stereo_image_proc::StereoProcessor::StereoProcessor ( )
inline

Definition at line 58 of file processor.h.

Member Function Documentation

int stereo_image_proc::StereoProcessor::getCorrelationWindowSize ( ) const
int stereo_image_proc::StereoProcessor::getDisp12MaxDiff ( ) const
int stereo_image_proc::StereoProcessor::getDisparityRange ( ) const
int stereo_image_proc::StereoProcessor::getInterpolation ( ) const
inline

Definition at line 184 of file processor.h.

int stereo_image_proc::StereoProcessor::getMinDisparity ( ) const
int stereo_image_proc::StereoProcessor::getP1 ( ) const
int stereo_image_proc::StereoProcessor::getP2 ( ) const
int stereo_image_proc::StereoProcessor::getPreFilterCap ( ) const
int stereo_image_proc::StereoProcessor::getPreFilterSize ( ) const
int stereo_image_proc::StereoProcessor::getSgbmMode ( ) const
int stereo_image_proc::StereoProcessor::getSpeckleRange ( ) const
int stereo_image_proc::StereoProcessor::getSpeckleSize ( ) const
StereoType stereo_image_proc::StereoProcessor::getStereoType ( ) const
inline

Definition at line 95 of file processor.h.

int stereo_image_proc::StereoProcessor::getTextureThreshold ( ) const
float stereo_image_proc::StereoProcessor::getUniquenessRatio ( ) const
bool stereo_image_proc::StereoProcessor::process ( const sensor_msgs::ImageConstPtr &  left_raw,
const sensor_msgs::ImageConstPtr &  right_raw,
const image_geometry::StereoCameraModel &  model,
StereoImageSet &  output,
int  flags 
) const

Definition at line 42 of file processor.cpp.

void stereo_image_proc::StereoProcessor::processDisparity ( const cv::Mat &  left_rect,
const cv::Mat &  right_rect,
const image_geometry::StereoCameraModel &  model,
stereo_msgs::DisparityImage &  disparity 
) const
Todo:
is_bigendian? :)
Todo:
Window of (potentially) valid disparities

Definition at line 83 of file processor.cpp.

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

Definition at line 136 of file processor.cpp.

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

Definition at line 213 of file processor.cpp.

void stereo_image_proc::StereoProcessor::setCorrelationWindowSize ( int  size)
void stereo_image_proc::StereoProcessor::setDisp12MaxDiff ( int  disp12MaxDiff)
void stereo_image_proc::StereoProcessor::setDisparityRange ( int  range)
void stereo_image_proc::StereoProcessor::setInterpolation ( int  interp)
inline

Definition at line 189 of file processor.h.

void stereo_image_proc::StereoProcessor::setMinDisparity ( int  min_d)
void stereo_image_proc::StereoProcessor::setP1 ( int  P1)
void stereo_image_proc::StereoProcessor::setP2 ( int  P2)
void stereo_image_proc::StereoProcessor::setPreFilterCap ( int  cap)
void stereo_image_proc::StereoProcessor::setPreFilterSize ( int  size)
void stereo_image_proc::StereoProcessor::setSgbmMode ( int  fullDP)
void stereo_image_proc::StereoProcessor::setSpeckleRange ( int  range)
void stereo_image_proc::StereoProcessor::setSpeckleSize ( int  size)
void stereo_image_proc::StereoProcessor::setStereoType ( StereoType  type)
inline

Definition at line 97 of file processor.h.

void stereo_image_proc::StereoProcessor::setTextureThreshold ( int  threshold)
void stereo_image_proc::StereoProcessor::setUniquenessRatio ( float  ratio)

Member Data Documentation

cv::StereoBM stereo_image_proc::StereoProcessor::block_matcher_
mutableprivate

Definition at line 175 of file processor.h.

StereoType stereo_image_proc::StereoProcessor::current_stereo_algorithm_
private

Definition at line 178 of file processor.h.

cv::Mat_<cv::Vec3f> stereo_image_proc::StereoProcessor::dense_points_
mutableprivate

Definition at line 180 of file processor.h.

cv::Mat_<int16_t> stereo_image_proc::StereoProcessor::disparity16_
mutableprivate

Definition at line 170 of file processor.h.

image_proc::Processor stereo_image_proc::StereoProcessor::mono_processor_
private

Definition at line 168 of file processor.h.

cv::StereoSGBM stereo_image_proc::StereoProcessor::sg_block_matcher_
mutableprivate

Definition at line 176 of file processor.h.

The documentation for this class was generated from the following files:

stereo_image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Thu Nov 7 2019 03:45:07