stereo_image_proc::StereoProcessor Class Reference

#include <processor.h>

List of all members.

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_

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Detailed Description

Definition at line 54 of file processor.h.

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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 75 of file processor.h.

enum stereo_image_proc::StereoProcessor::StereoType

Enumerator:

BM
SGBM

Definition at line 70 of file processor.h.

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Constructor & Destructor Documentation

stereo_image_proc::StereoProcessor::StereoProcessor

(

)

[inline]

Definition at line 58 of file processor.h.

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Member Function Documentation

int stereo_image_proc::StereoProcessor::getCorrelationWindowSize

(

)

const

int stereo_image_proc::StereoProcessor::getDisp12MaxDiff

(

)

const

int stereo_image_proc::StereoProcessor::getDisparityRange

(

)

const

int stereo_image_proc::StereoProcessor::getInterpolation

(

)

const [inline]

Definition at line 184 of file processor.h.

int stereo_image_proc::StereoProcessor::getMinDisparity

(

)

const

int stereo_image_proc::StereoProcessor::getP1

(

)

const

int stereo_image_proc::StereoProcessor::getP2

(

)

const

int stereo_image_proc::StereoProcessor::getPreFilterCap

(

)

const

int stereo_image_proc::StereoProcessor::getPreFilterSize

(

)

const

int stereo_image_proc::StereoProcessor::getSgbmMode

(

)

const

int stereo_image_proc::StereoProcessor::getSpeckleRange

(

)

const

int stereo_image_proc::StereoProcessor::getSpeckleSize

(

)

const

StereoType stereo_image_proc::StereoProcessor::getStereoType

(

)

const [inline]

Definition at line 95 of file processor.h.

int stereo_image_proc::StereoProcessor::getTextureThreshold

(

)

const

float stereo_image_proc::StereoProcessor::getUniquenessRatio

(

)

const

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 136 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 213 of file processor.cpp.

void stereo_image_proc::StereoProcessor::setCorrelationWindowSize

(

int

size

)

void stereo_image_proc::StereoProcessor::setDisp12MaxDiff

(

int

disp12MaxDiff

)

void stereo_image_proc::StereoProcessor::setDisparityRange

(

int

range

)

void stereo_image_proc::StereoProcessor::setInterpolation

(

int

interp

)

[inline]

Definition at line 189 of file processor.h.

void stereo_image_proc::StereoProcessor::setMinDisparity

(

int

min_d

)

void stereo_image_proc::StereoProcessor::setP1

(

int

P1

)

void stereo_image_proc::StereoProcessor::setP2

(

int

P2

)

void stereo_image_proc::StereoProcessor::setPreFilterCap

(

int

cap

)

void stereo_image_proc::StereoProcessor::setPreFilterSize

(

int

size

)

void stereo_image_proc::StereoProcessor::setSgbmMode

(

int

fullDP

)

void stereo_image_proc::StereoProcessor::setSpeckleRange

(

int

range

)

void stereo_image_proc::StereoProcessor::setSpeckleSize

(

int

size

)

void stereo_image_proc::StereoProcessor::setStereoType

(

StereoType

type

)

[inline]

Definition at line 97 of file processor.h.

void stereo_image_proc::StereoProcessor::setTextureThreshold

(

int

threshold

)

void stereo_image_proc::StereoProcessor::setUniquenessRatio

(

float

ratio

)

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Member Data Documentation

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

Definition at line 175 of file processor.h.

StereoType stereo_image_proc::StereoProcessor::current_stereo_algorithm_ [private]

Definition at line 178 of file processor.h.

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

Definition at line 180 of file processor.h.

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

Definition at line 170 of file processor.h.

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

Definition at line 168 of file processor.h.

cv::StereoSGBM stereo_image_proc::StereoProcessor::sg_block_matcher_ [mutable, private]

Definition at line 176 of file processor.h.

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

• processor.h
• processor.cpp