StereoDense.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef STEREODENSE_H_
00029 #define STEREODENSE_H_
00030 
00031 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
00032 
00033 #include <rtabmap/core/Parameters.h>
00034 #include <opencv2/core/core.hpp>
00035 
00036 namespace rtabmap {
00037 
00038 class RTABMAP_EXP StereoDense {
00039 public:
00040         virtual ~StereoDense() {}
00041 
00042         virtual void parseParameters(const ParametersMap & parameters) {}
00043         virtual cv::Mat computeDisparity(
00044                         const cv::Mat & leftImage,
00045                         const cv::Mat & rightImage) const = 0;
00046 
00047 protected:
00048         StereoDense(const ParametersMap & parameters = ParametersMap()) {}
00049 };
00050 
00051 class RTABMAP_EXP StereoBM : public StereoDense {
00052 public:
00053         StereoBM(int blockSize, int numDisparities);
00054         StereoBM(const ParametersMap & parameters = ParametersMap());
00055         virtual ~StereoBM() {}
00056 
00057         virtual void parseParameters(const ParametersMap & parameters);
00058         virtual cv::Mat computeDisparity(
00059                         const cv::Mat & leftImage,
00060                         const cv::Mat & rightImage) const;
00061 
00062 private:
00063         int blockSize_;         //15
00064         int minDisparity_;      //0
00065         int numDisparities_;    //64
00066         int preFilterSize_;     //9
00067         int preFilterCap_;      //31
00068         int uniquenessRatio_;   //15
00069         int textureThreshold_;  //10
00070         int speckleWindowSize_; //100
00071         int speckleRange_;      //4
00072 };
00073 
00074 } /* namespace rtabmap */
00075 
00076 #endif /* STEREODENSE_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:31