Stereo.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 STEREO_H_
00029 #define STEREO_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 Stereo {
00039 public:
00040         static Stereo * create(const ParametersMap & parameters = ParametersMap());
00041 
00042 public:
00043         Stereo(const ParametersMap & parameters = ParametersMap());
00044         virtual ~Stereo() {}
00045 
00046         virtual void parseParameters(const ParametersMap & parameters);
00047         virtual std::vector<cv::Point2f> computeCorrespondences(
00048                         const cv::Mat & leftImage,
00049                         const cv::Mat & rightImage,
00050                         const std::vector<cv::Point2f> & leftCorners,
00051                         std::vector<unsigned char> & status) const;
00052 
00053         cv::Size winSize() const {return cv::Size(winWidth_, winHeight_);}
00054         int iterations() const   {return iterations_;}
00055         int maxLevel() const     {return maxLevel_;}
00056         float minDisparity() const {return minDisparity_;}
00057         float maxDisparity() const {return maxDisparity_;}
00058         bool winSSD() const      {return winSSD_;}
00059 
00060 private:
00061         int winWidth_;
00062         int winHeight_;
00063         int iterations_;
00064         int maxLevel_;
00065         float minDisparity_;
00066         float maxDisparity_;
00067         bool winSSD_;
00068 };
00069 
00070 class RTABMAP_EXP StereoOpticalFlow : public Stereo {
00071 public:
00072         StereoOpticalFlow(const ParametersMap & parameters = ParametersMap());
00073         virtual ~StereoOpticalFlow() {}
00074 
00075         virtual void parseParameters(const ParametersMap & parameters);
00076         virtual std::vector<cv::Point2f> computeCorrespondences(
00077                         const cv::Mat & leftImage,
00078                         const cv::Mat & rightImage,
00079                         const std::vector<cv::Point2f> & leftCorners,
00080                         std::vector<unsigned char> & status) const;
00081 
00082         float epsilon() const {return epsilon_;}
00083 
00084 private:
00085         float epsilon_;
00086 };
00087 
00088 } /* namespace rtabmap */
00089 
00090 #endif /* STEREO_H_ */


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