#include <densestereo.h>

Public Member Functions
	DenseStereo ()

virtual	~DenseStereo ()

void	setStereoCalibration (const frame_helper::StereoCalibration &stereoCal, const int imgWidth, const int imgHeight)

void	setLibElasConfiguration (const libElasConfiguration &libElasParam)

void	setGaussianKernel (int size)

void	processFramePair (const cv::Mat &left_frame, const cv::Mat &right_frame, cv::Mat &left_output_frame, cv::Mat &right_output_frame, bool isRectified=false)

void	getDistanceImages (cv::Mat &left_disp_image, cv::Mat &right_disp_image)

void	getDistanceImages (const cv::Mat &left_frame, const cv::Mat &right_frame, cv::Mat &left_output_frame, cv::Mat &right_output_frame, bool isRectified=false)

void	getDistanceImages (const cv::Mat &left_frame, const cv::Mat &right_frame, base::samples::DistanceImage &left_output_frame, base::samples::DistanceImage &right_output_frame, bool isRectified=false)

cv::Mat	createDistanceImage (frame_helper::CameraCalibrationCv const &calib, base::samples::DistanceImage &dist_image)

cv::Mat	createLeftDistanceImage (base::samples::DistanceImage &dist_image)

cv::Mat	createRightDistanceImage (base::samples::DistanceImage &dist_image)

Detailed Description

This class performs dense stereo calculation and is mainly a wrapper to libelas. After construction, the setStereoCalibration method needs to be called with a valid calibration. Configuration itself has sane defaults, but can be changed any time. process_FramePair produces a disparity image, which by itself isn't all that usefull (function will probably be made private soon). getDistanceImage is more likely what you want to call, which produces images where the actual distance is encoded as a float. Use the createDistanceImage method beforehand to get the cv::Mat to pass as a parameter to getDistanceImage to get the base::samples::DistanceImage type filled from this class.

Constructor & Destructor Documentation

stereo::DenseStereo::DenseStereo ( )

stereo::DenseStereo::~DenseStereo ( )

virtual

Member Function Documentation

cv::Mat stereo::DenseStereo::createDistanceImage	(	frame_helper::CameraCalibrationCv const &	calib,
		base::samples::DistanceImage &	dist_image
	)

prepare a distance image from the provided camera calibration the resulting cv::Mat shares the same data buffer as the dist_image and can be used as input to getDistanceImages

Parameters

calib	- the calibration for the camera to use
dist_image	- the dist_image which will be filled with the calib data and image size

Returns: cv::Mat which shares a data buffer with dist_image

cv::Mat stereo::DenseStereo::createLeftDistanceImage ( base::samples::DistanceImage & dist_image )

inline

convenience method which doesn't require a calibration object but uses the camera calibration for the left camera

cv::Mat stereo::DenseStereo::createRightDistanceImage ( base::samples::DistanceImage & dist_image )

inline

convenience method which doesn't require a calibration object but uses the camera calibration for the right camera

void stereo::DenseStereo::getDistanceImages	(	cv::Mat &	left_disp_image,
		cv::Mat &	right_disp_image
	)

perform conversion from disparity to distance image

void stereo::DenseStereo::getDistanceImages	(	const cv::Mat &	left_frame,
		const cv::Mat &	right_frame,
		cv::Mat &	left_output_frame,
		cv::Mat &	right_output_frame,
		bool	isRectified = `false`
	)

computes the disparity images and calculates the distance images from them

Parameters

left_frame	left input frame
right_frame	right input frame
left_output_frame	left distance image
right_output_frame	right distance image
isRectified	tells the function if the input images are already rectified

void stereo::DenseStereo::getDistanceImages	(	const cv::Mat &	left_frame,
		const cv::Mat &	right_frame,
		base::samples::DistanceImage &	left_output_frame,
		base::samples::DistanceImage &	right_output_frame,
		bool	isRectified = `false`
	)

convenience method that takes base::samples::DistanceImages as the result objects

Parameters

left_frame	left input frame
right_frame	right input frame
left_output_frame	left distance image
right_output_frame	right distance image
isRectified	tells the function if the input images are already rectified

void stereo::DenseStereo::processFramePair	(	const cv::Mat &	left_frame,
		const cv::Mat &	right_frame,
		cv::Mat &	left_output_frame,
		cv::Mat &	right_output_frame,
		bool	isRectified = `false`
	)

computes disparities of input frame pair left_frame, right_frame

Parameters

left_frame	left input frame
right_frame	right input frame
left_output_frame	left output frame
right_output_frame	right output frame
isRectified	tells the function if the input images are already rectified

void stereo::DenseStereo::setGaussianKernel ( int size )

inline

if set to greater than 0, the images will be preprocessed with a gaussian blur filter with a kernel of the given size. Should be an odd number.

void stereo::DenseStereo::setLibElasConfiguration ( const libElasConfiguration & libElasParam )

configures libElas

Parameters

libElasParam libElas configuration

void stereo::DenseStereo::setStereoCalibration	(	const frame_helper::StereoCalibration &	stereoCal,
		const int	imgWidth,
		const int	imgHeight
	)

sets calibration parameters for stereo camera setup

Parameters

stereoCamCal stereo camera calibration data

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

/build/rock-master-18.09-perception-stereo-0.20161215/src/densestereo.h
/build/rock-master-18.09-perception-stereo-0.20161215/src/densestereo.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation