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| GrayStereoMatching () |
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| ~GrayStereoMatching () |
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void | compute (unsigned char *ref_img, unsigned char *trg_img, int width, int height) override |
| stereo processing, it computes a disparity map stored internally by the class More...
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void | compute (pcl::PointCloud< pcl::RGB > &ref, pcl::PointCloud< pcl::RGB > &trg) override |
| stereo processing, it computes a disparity map stored internally by the class More...
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| StereoMatching () |
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virtual | ~StereoMatching () |
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void | setMaxDisparity (int max_disp) |
| setter for number of disparity candidates (disparity range) More...
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void | setXOffset (int x_off) |
| setter for horizontal offset, i.e. More...
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void | setRatioFilter (int ratio_filter) |
| setter for the value of the ratio filter More...
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void | setPeakFilter (int peak_filter) |
| setter for the value of the peak filter More...
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void | setPreProcessing (bool is_pre_proc) |
| setter for the pre processing step More...
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void | setLeftRightCheck (bool is_lr_check) |
| setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity values from the disparity map at approx. More...
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void | setLeftRightCheckThreshold (int lr_check_th) |
| setter for the left-right consistency check threshold More...
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virtual void | compute (unsigned char *ref_img, unsigned char *trg_img, int width, int height)=0 |
| stereo processing, it computes a disparity map stored internally by the class More...
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virtual void | compute (pcl::PointCloud< pcl::RGB > &ref, pcl::PointCloud< pcl::RGB > &trg)=0 |
| stereo processing, it computes a disparity map stored internally by the class More...
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void | medianFilter (int radius) |
| median filter applied on the previously computed disparity map More...
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virtual bool | getPointCloud (float u_c, float v_c, float focal, float baseline, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud) |
| computation of the 3D point cloud from the previously computed disparity map without color information More...
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virtual bool | getPointCloud (float u_c, float v_c, float focal, float baseline, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::RGB >::Ptr texture) |
| computation of the 3D point cloud from the previously computed disparity map including color information More...
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void | getVisualMap (pcl::PointCloud< pcl::RGB >::Ptr vMap) |
| computation of a pcl::RGB cloud with scaled disparity values it can be used to display a rescaled version of the disparity map by means of the pcl::ImageViewer invalid disparity values are shown in green More...
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void | compute_impl (unsigned char *ref_img, unsigned char *trg_img) override=0 |
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void | preProcessing (unsigned char *img, unsigned char *pp_img) override |
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void | imgFlip (unsigned char *&img) override |
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virtual void | preProcessing (unsigned char *img, unsigned char *pp_img)=0 |
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virtual void | imgFlip (unsigned char *&img)=0 |
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virtual void | compute_impl (unsigned char *ref_img, unsigned char *trg_img)=0 |
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void | leftRightCheck () |
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short int | computeStereoSubpixel (int dbest, int s1, int s2, int s3) |
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short int | computeStereoSubpixel (int dbest, float s1, float s2, float s3) |
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Stereo Matching abstract class for Grayscale images.
The class implements some functionalities of pcl::StereoMatching specific for grayscale stereo processing, such as image pre-processing and left
- Author
- Federico Tombari (feder.nosp@m.ico..nosp@m.tomba.nosp@m.ri@u.nosp@m.nibo..nosp@m.it)
Definition at line 371 of file stereo_matching.h.