Public Member Functions | List of all members
StereoDepth Class Reference

Stores image data for a stereo camera pair. More...

Inheritance diagram for StereoDepth:

Public Member Functions

virtual double getBaseline () const
virtual void getXyz (OdometryFrame *frame)
virtual bool haveXyz (int u, int v)
virtual void refineXyz (FeatureMatch *matches, int num_matches, OdometryFrame *frame)
void setRightImage (const uint8_t *img)
 StereoDepth (const StereoCalibration *calib, const VisualOdometryOptions &options)

Detailed Description

Stores image data for a stereo camera pair.


Member Function Documentation

virtual bool haveXyz ( int  u,
int  v 

This should return true if it's not certain there's no depth at (u,v). It should be an inexpensive check that is used to avoid pointless (hah!) creation of keypoints. False positives are fine as ling as getXyz gets rid of them.

Implements DepthSource.

virtual void getXyz ( OdometryFrame frame)

Populate keypoints in frame with XYZ data.

Implements DepthSource.

virtual void refineXyz ( FeatureMatch matches,
int  num_matches,
OdometryFrame frame 

Refine XYZ data of target keypoints in matches (usually after subpixel refinement of the matches across time).

Implements DepthSource.

virtual double getBaseline ( ) const

Return baseline of depth source, if applicable. If not applicable (e.g. for OpenNI devices) return 0.

Implements DepthSource.

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