#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 }
Public Member Functions
int	getCorrelationWindowSize () const
int	getDisparityRange () const
int	getInterpolation () const
int	getMinDisparity () const
int	getPreFilterCap () const
int	getPreFilterSize () const
int	getSpeckleRange () const
int	getSpeckleSize () 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	setDisparityRange (int range)
void	setInterpolation (int interp)
void	setMinDisparity (int min_d)
void	setPreFilterCap (int cap)
void	setPreFilterSize (int size)
void	setSpeckleRange (int range)
void	setSpeckleSize (int size)
void	setTextureThreshold (int threshold)
void	setUniquenessRatio (float ratio)
	StereoProcessor ()
Private Attributes
cv::StereoBM	block_matcher_
cv::Mat_< cv::Vec3f >	dense_points_
cv::Mat_< int16_t >	disparity16_
cv::Mat_< uint32_t >	labels_
image_proc::Processor	mono_processor_
cv::Mat_< uint8_t >	region_types_
cv::Mat_< uint32_t >	wavefront_

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 63 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 [inline]

Definition at line 181 of file processor.h.

int stereo_image_proc::StereoProcessor::getDisparityRange ( ) const [inline]

Definition at line 201 of file processor.h.

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

Definition at line 151 of file processor.h.

int stereo_image_proc::StereoProcessor::getMinDisparity ( ) const [inline]

Definition at line 191 of file processor.h.

int stereo_image_proc::StereoProcessor::getPreFilterCap ( ) const [inline]

Definition at line 171 of file processor.h.

int stereo_image_proc::StereoProcessor::getPreFilterSize ( ) const [inline]

Definition at line 161 of file processor.h.

int stereo_image_proc::StereoProcessor::getSpeckleRange ( ) const [inline]

Definition at line 241 of file processor.h.

int stereo_image_proc::StereoProcessor::getSpeckleSize ( ) const [inline]

Definition at line 231 of file processor.h.

int stereo_image_proc::StereoProcessor::getTextureThreshold ( ) const [inline]

Definition at line 211 of file processor.h.

float stereo_image_proc::StereoProcessor::getUniquenessRatio ( ) const [inline]

Definition at line 221 of file processor.h.

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 127 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 204 of file processor.cpp.

void stereo_image_proc::StereoProcessor::setCorrelationWindowSize ( int size ) [inline]

Definition at line 186 of file processor.h.

void stereo_image_proc::StereoProcessor::setDisparityRange ( int range ) [inline]

Definition at line 206 of file processor.h.

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

Definition at line 156 of file processor.h.

void stereo_image_proc::StereoProcessor::setMinDisparity ( int min_d ) [inline]

Definition at line 196 of file processor.h.

void stereo_image_proc::StereoProcessor::setPreFilterCap ( int cap ) [inline]

Definition at line 176 of file processor.h.

void stereo_image_proc::StereoProcessor::setPreFilterSize ( int size ) [inline]

Definition at line 166 of file processor.h.

void stereo_image_proc::StereoProcessor::setSpeckleRange ( int range ) [inline]

Definition at line 246 of file processor.h.

void stereo_image_proc::StereoProcessor::setSpeckleSize ( int size ) [inline]

Definition at line 236 of file processor.h.

void stereo_image_proc::StereoProcessor::setTextureThreshold ( int threshold ) [inline]

Definition at line 216 of file processor.h.

void stereo_image_proc::StereoProcessor::setUniquenessRatio ( float ratio ) [inline]

Definition at line 226 of file processor.h.

Member Data Documentation

cv::StereoBM stereo_image_proc::StereoProcessor::block_matcher_ [mutable, private]

Definition at line 141 of file processor.h.

cv::Mat_<cv::Vec3f> stereo_image_proc::StereoProcessor::dense_points_ [mutable, private]

Definition at line 147 of file processor.h.

cv::Mat_<int16_t> stereo_image_proc::StereoProcessor::disparity16_ [mutable, private]

Definition at line 140 of file processor.h.

cv::Mat_<uint32_t> stereo_image_proc::StereoProcessor::labels_ [mutable, private]

Definition at line 143 of file processor.h.

image_proc::Processor stereo_image_proc::StereoProcessor::mono_processor_ [private]

Definition at line 138 of file processor.h.

cv::Mat_<uint8_t> stereo_image_proc::StereoProcessor::region_types_ [mutable, private]

Definition at line 145 of file processor.h.

cv::Mat_<uint32_t> stereo_image_proc::StereoProcessor::wavefront_ [mutable, private]

Definition at line 144 of file processor.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation