StereoDisparity Class Reference

Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed. More...

Inheritance diagram for StereoDisparity:

Public Member Functions
double	getBaseline () const
void	getXyz (OdometryFrame *frame)
bool	haveXyz (int u, int v)
void	refineXyz (FeatureMatch *matches, int num_matches, OdometryFrame *frame)
void	setDisparityData (const float *disparity_data)
	StereoDisparity (const StereoCalibration *calib)

Detailed Description

Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed.

Supports VO where input is left and disparity. No right image required. Disparity values are floats with no disparity values given by disparity==0 Similar in concept to DepthImage and PrimesenseDepth

Member Function Documentation

void setDisparityData

(

const float *

disparity_data

)

Sets the disparity map. An internal copy of the disparity data is made, so the memory at

Parameters

disparity_data

is not used after this method returns.

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.

void getXyz ( OdometryFrame *  frame )

virtual

Populate keypoints in frame with XYZ data.

Implements DepthSource.

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.

double getBaseline ( ) const

inlinevirtual

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

Implements DepthSource.

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

• stereo_disparity.hpp