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.

TODO

Member Function Documentation

virtual bool haveXyz	(	int	u,
		int	v
	)

virtual

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 )

virtual

Populate keypoints in frame with XYZ data.

Implements DepthSource.

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

virtual

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

Implements DepthSource.

virtual double getBaseline ( ) const

inlinevirtual

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:

stereo_depth.hpp

Public Member Functions

Detailed Description

Member Function Documentation