Stereo Matching abstract class for Grayscale images. More...

#include <pcl/stereo/stereo_matching.h>

Inheritance diagram for pcl::GrayStereoMatching:

Collaboration diagram for pcl::GrayStereoMatching:

Public Member Functions
	GrayStereoMatching ()
	~GrayStereoMatching () override
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
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
Public Member Functions inherited from pcl::StereoMatching
	StereoMatching ()
virtual	~StereoMatching ()
void	setMaxDisparity (int max_disp)
	setter for number of disparity candidates (disparity range)
void	setXOffset (int x_off)
	setter for horizontal offset, i.e.
void	setRatioFilter (int ratio_filter)
	setter for the value of the ratio filter
void	setPeakFilter (int peak_filter)
	setter for the value of the peak filter
void	setPreProcessing (bool is_pre_proc)
	setter for the pre processing step
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.
void	setLeftRightCheckThreshold (int lr_check_th)
	setter for the left-right consistency check threshold
void	medianFilter (int radius)
	median filter applied on the previously computed disparity map
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
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
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

Protected Member Functions
void	compute_impl (unsigned char ref_img, unsigned char trg_img) override=0
void	preProcessing (unsigned char img, unsigned char pp_img) override
void	imgFlip (unsigned char *&img) override
Protected Member Functions inherited from pcl::StereoMatching
void	leftRightCheck ()
short int	computeStereoSubpixel (int dbest, int s1, int s2, int s3)
short int	computeStereoSubpixel (int dbest, float s1, float s2, float s3)

Additional Inherited Members
Protected Attributes inherited from pcl::StereoMatching
short int *	disp_map_
	The internal disparity map.
unsigned char *	ref_img_
	Local aligned copies of the cloud data.
unsigned char *	trg_img_
short int *	disp_map_trg_
	Disparity map used for left-right check.
unsigned char *	pp_ref_img_
	Local aligned copies used for pre processing.
unsigned char *	pp_trg_img_
int	width_
	number of pixels per column of the input stereo pair .
int	height_
	number of pixels per row of the input stereo pair .
int	max_disp_
	Disparity range used for stereo processing.
int	x_off_
	Horizontal displacemente (x offset) used for stereo processing.
int	ratio_filter_
	Threshold for the ratio filter, $\in [0 100]$ .
int	peak_filter_
	Threshold for the peak filter, $\in [0 \infty]$ .
bool	is_pre_proc_
	toggle for the activation of the pre-processing stage
bool	is_lr_check_
	toggle for the activation of the left-right consistency check stage
int	lr_check_th_
	Threshold for the left-right consistency check, typically either 0 or 1.

Detailed Description

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.

Constructor & Destructor Documentation

◆ GrayStereoMatching()

pcl::GrayStereoMatching::GrayStereoMatching ( )

◆ ~GrayStereoMatching()

pcl::GrayStereoMatching::~GrayStereoMatching ( )

override

Member Function Documentation

◆ compute() [1/2]

void pcl::GrayStereoMatching::compute	(	pcl::PointCloud< pcl::RGB > &	ref,
		pcl::PointCloud< pcl::RGB > &	trg )

overridevirtual

stereo processing, it computes a disparity map stored internally by the class

Parameters

[in]	ref	point cloud of pcl::RGB type containing the pixels of the reference image (left image) the pcl::RGB triplets are automatically converted to grayscale upon call of the method
[in]	trg	point cloud of pcl::RGB type containing the pixels of the target image (right image) the pcl::RGB triplets are automatically converted to grayscale upon call of the method

Implements pcl::StereoMatching.

◆ compute() [2/2]

void pcl::GrayStereoMatching::compute	(	unsigned char *	ref_img,
		unsigned char *	trg_img,
		int	width,
		int	height )

overridevirtual

stereo processing, it computes a disparity map stored internally by the class

Parameters

[in]	ref_img	reference array of image pixels (left image), has to be grayscale single channel
[in]	trg_img	target array of image pixels (right image), has to be grayscale single channel
[in]	width	number of elements per row for both input arrays
[in]	height	number of elements per column for both input arrays