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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14  derived from this software without specific prior written permission.
15 
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/rtabmap_core_export.h" // DLL export/import defines
32 
34 #include <opencv2/core/core.hpp>
35 
36 namespace rtabmap {
37 
38 class RTABMAP_CORE_EXPORT Stereo {
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 
70 class RTABMAP_CORE_EXPORT StereoOpticalFlow : public Stereo {
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_ */
create
ADT create(const Signature &signature)
rtabmap::Stereo::minDisparity_
float minDisparity_
Definition: Stereo.h:65
rtabmap::StereoOpticalFlow::epsilon
float epsilon() const
Definition: Stereo.h:82
rtabmap::Stereo
Definition: Stereo.h:38
rtabmap::Stereo::maxLevel
int maxLevel() const
Definition: Stereo.h:55
rtabmap::Stereo::maxDisparity_
float maxDisparity_
Definition: Stereo.h:66
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::Stereo::winHeight_
int winHeight_
Definition: Stereo.h:62
Parameters.h
rtabmap::Stereo::winSize
cv::Size winSize() const
Definition: Stereo.h:53
rtabmap::Stereo::maxLevel_
int maxLevel_
Definition: Stereo.h:64
rtabmap::StereoOpticalFlow::epsilon_
float epsilon_
Definition: Stereo.h:85
rtabmap::StereoOpticalFlow
Definition: Stereo.h:70
rtabmap::Stereo::~Stereo
virtual ~Stereo()
Definition: Stereo.h:44
rtabmap::Stereo::winWidth_
int winWidth_
Definition: Stereo.h:61
rtabmap::Stereo::winSSD_
bool winSSD_
Definition: Stereo.h:67
rtabmap::StereoOpticalFlow::~StereoOpticalFlow
virtual ~StereoOpticalFlow()
Definition: Stereo.h:73
rtabmap::Stereo::iterations_
int iterations_
Definition: Stereo.h:63
rtabmap::Stereo::maxDisparity
float maxDisparity() const
Definition: Stereo.h:57
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::Stereo::iterations
int iterations() const
Definition: Stereo.h:54
rtabmap::Stereo::minDisparity
float minDisparity() const
Definition: Stereo.h:56
rtabmap::Stereo::winSSD
bool winSSD() const
Definition: Stereo.h:58


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:22