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 87 of file processor.h.

Member Enumeration Documentation

◆ anonymous enum

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 108 of file processor.h.

◆ StereoType

enum stereo_image_proc::StereoProcessor::StereoType
Enumerator
BM 
SGBM 

Definition at line 103 of file processor.h.

Constructor & Destructor Documentation

◆ StereoProcessor()

stereo_image_proc::StereoProcessor::StereoProcessor ( )
inline

Definition at line 91 of file processor.h.

Member Function Documentation

◆ getCorrelationWindowSize()

int stereo_image_proc::StereoProcessor::getCorrelationWindowSize ( ) const

◆ getDisp12MaxDiff()

int stereo_image_proc::StereoProcessor::getDisp12MaxDiff ( ) const

◆ getDisparityRange()

int stereo_image_proc::StereoProcessor::getDisparityRange ( ) const

◆ getInterpolation()

int stereo_image_proc::StereoProcessor::getInterpolation ( ) const
inline

Definition at line 217 of file processor.h.

◆ getMinDisparity()

int stereo_image_proc::StereoProcessor::getMinDisparity ( ) const

◆ getP1()

int stereo_image_proc::StereoProcessor::getP1 ( ) const

◆ getP2()

int stereo_image_proc::StereoProcessor::getP2 ( ) const

◆ getPreFilterCap()

int stereo_image_proc::StereoProcessor::getPreFilterCap ( ) const

◆ getPreFilterSize()

int stereo_image_proc::StereoProcessor::getPreFilterSize ( ) const

◆ getSgbmMode()

int stereo_image_proc::StereoProcessor::getSgbmMode ( ) const

◆ getSpeckleRange()

int stereo_image_proc::StereoProcessor::getSpeckleRange ( ) const

◆ getSpeckleSize()

int stereo_image_proc::StereoProcessor::getSpeckleSize ( ) const

◆ getStereoType()

StereoType stereo_image_proc::StereoProcessor::getStereoType ( ) const
inline

Definition at line 128 of file processor.h.

◆ getTextureThreshold()

int stereo_image_proc::StereoProcessor::getTextureThreshold ( ) const

◆ getUniquenessRatio()

float stereo_image_proc::StereoProcessor::getUniquenessRatio ( ) const

◆ process()

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 74 of file processor.cpp.

◆ processDisparity()

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 115 of file processor.cpp.

◆ processPoints()

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 168 of file processor.cpp.

◆ processPoints2()

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 267 of file processor.cpp.

◆ setCorrelationWindowSize()

void stereo_image_proc::StereoProcessor::setCorrelationWindowSize ( int  size)

◆ setDisp12MaxDiff()

void stereo_image_proc::StereoProcessor::setDisp12MaxDiff ( int  disp12MaxDiff)

◆ setDisparityRange()

void stereo_image_proc::StereoProcessor::setDisparityRange ( int  range)

◆ setInterpolation()

void stereo_image_proc::StereoProcessor::setInterpolation ( int  interp)
inline

Definition at line 222 of file processor.h.

◆ setMinDisparity()

void stereo_image_proc::StereoProcessor::setMinDisparity ( int  min_d)

◆ setP1()

void stereo_image_proc::StereoProcessor::setP1 ( int  P1)

◆ setP2()

void stereo_image_proc::StereoProcessor::setP2 ( int  P2)

◆ setPreFilterCap()

void stereo_image_proc::StereoProcessor::setPreFilterCap ( int  cap)

◆ setPreFilterSize()

void stereo_image_proc::StereoProcessor::setPreFilterSize ( int  size)

◆ setSgbmMode()

void stereo_image_proc::StereoProcessor::setSgbmMode ( int  fullDP)

◆ setSpeckleRange()

void stereo_image_proc::StereoProcessor::setSpeckleRange ( int  range)

◆ setSpeckleSize()

void stereo_image_proc::StereoProcessor::setSpeckleSize ( int  size)

◆ setStereoType()

void stereo_image_proc::StereoProcessor::setStereoType ( StereoType  type)
inline

Definition at line 130 of file processor.h.

◆ setTextureThreshold()

void stereo_image_proc::StereoProcessor::setTextureThreshold ( int  threshold)

◆ setUniquenessRatio()

void stereo_image_proc::StereoProcessor::setUniquenessRatio ( float  ratio)

Member Data Documentation

◆ block_matcher_

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

Definition at line 208 of file processor.h.

◆ current_stereo_algorithm_

StereoType stereo_image_proc::StereoProcessor::current_stereo_algorithm_
private

Definition at line 211 of file processor.h.

◆ dense_points_

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

Definition at line 213 of file processor.h.

◆ disparity16_

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

Definition at line 203 of file processor.h.

◆ mono_processor_

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

Definition at line 201 of file processor.h.

◆ sg_block_matcher_

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

Definition at line 209 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 Wed Jan 24 2024 03:57:24