BlockBasedStereoMatching ()
~BlockBasedStereoMatching () override=default
void setRadius (int radius)
setter for the radius of the squared window
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
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
void preProcessing (unsigned char *img, unsigned char *pp_img) override
void imgFlip (unsigned char *&img) override
void leftRightCheck ()
short int computeStereoSubpixel (int dbest, int s1, int s2, int s3)
short int computeStereoSubpixel (int dbest, float s1, float s2, float s3)
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, .
int peak_filter_
Threshold for the peak filter, .
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.
Block based (or fixed window) Stereo Matching class.
This class implements the baseline Block-based - aka Fixed Window - stereo matching algorithm. The algorithm includes a running box filter so that the computational complexity is independent of the size of the window ( O(1) wrt. to the size of window) The algorithm is based on the Sum of Absolute Differences (SAD) matching function Only works with grayscale (single channel) rectified images
Author Federico Tombari (feder.nosp@m. ico..nosp@m. tomba.nosp@m. ri@u.nosp@m. nibo..nosp@m. it )
Definition at line 428 of file stereo_matching.h .