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Point Cloud Library (PCL)
1.15.0-dev
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Point Cloud Library (PCL)
1.15.0-dev
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Adaptive Cost 2-pass Scanline Optimization Stereo Matching class. More...
#include <pcl/stereo/stereo_matching.h>
Inheritance diagram for pcl::AdaptiveCostSOStereoMatching: Collaboration diagram for pcl::AdaptiveCostSOStereoMatching:Public Member Functions | |
| AdaptiveCostSOStereoMatching () | |
| ~AdaptiveCostSOStereoMatching () override=default | |
| void | setRadius (int radius) |
| setter for the radius (half length) of the column used for cost aggregation More... | |
| void | setGammaS (int gamma_s) |
| setter for the spatial bandwidth used for cost aggregation based on adaptive weights More... | |
| void | setGammaC (int gamma_c) |
| setter for the color bandwidth used for cost aggregation based on adaptive weights More... | |
| void | setSmoothWeak (int smoothness_weak) |
| "weak" smoothness penalty used within 2-pass Scanline Optimization More... | |
| void | setSmoothStrong (int smoothness_strong) |
| "strong" smoothness penalty used within 2-pass Scanline Optimization More... | |
| Public Member Functions inherited from pcl::GrayStereoMatching | |
| 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 More... | |
| 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 More... | |
| Public Member Functions inherited from pcl::StereoMatching | |
| StereoMatching () | |
| virtual | ~StereoMatching () |
| void | setMaxDisparity (int max_disp) |
| setter for number of disparity candidates (disparity range) More... | |
| void | setXOffset (int x_off) |
| setter for horizontal offset, i.e. More... | |
| void | setRatioFilter (int ratio_filter) |
| setter for the value of the ratio filter More... | |
| void | setPeakFilter (int peak_filter) |
| setter for the value of the peak filter More... | |
| void | setPreProcessing (bool is_pre_proc) |
| setter for the pre processing step More... | |
| 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. More... | |
| void | setLeftRightCheckThreshold (int lr_check_th) |
| setter for the left-right consistency check threshold More... | |
| void | medianFilter (int radius) |
| median filter applied on the previously computed disparity map More... | |
| 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 More... | |
| 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 More... | |
| 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 More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::GrayStereoMatching | |
| 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) |
| Protected Attributes inherited from pcl::StereoMatching | |
| short int * | disp_map_ |
| The internal disparity map. More... | |
| unsigned char * | ref_img_ |
| Local aligned copies of the cloud data. More... | |
| unsigned char * | trg_img_ |
| short int * | disp_map_trg_ |
| Disparity map used for left-right check. More... | |
| unsigned char * | pp_ref_img_ |
| Local aligned copies used for pre processing. More... | |
| unsigned char * | pp_trg_img_ |
| int | width_ |
| number of pixels per column of the input stereo pair . More... | |
| int | height_ |
| number of pixels per row of the input stereo pair . More... | |
| int | max_disp_ |
| Disparity range used for stereo processing. More... | |
| int | x_off_ |
| Horizontal displacemente (x offset) used for stereo processing. More... | |
| int | ratio_filter_ |
Threshold for the ratio filter, ![$\in [0 100]$](form_77.png) . More... | |
| int | peak_filter_ |
Threshold for the peak filter, ![$\in [0 \infty]$](form_78.png) . More... | |
| bool | is_pre_proc_ |
| toggle for the activation of the pre-processing stage More... | |
| bool | is_lr_check_ |
| toggle for the activation of the left-right consistency check stage More... | |
| int | lr_check_th_ |
| Threshold for the left-right consistency check, typically either 0 or 1. More... | |
Adaptive Cost 2-pass Scanline Optimization Stereo Matching class.
This class implements an adaptive-cost stereo matching algorithm based on 2-pass Scanline Optimization. The algorithm is inspired by the paper: [1] L. Wang et al., "High Quality Real-time Stereo using Adaptive Cost Aggregation and Dynamic Programming", 3DPVT 2006 Cost aggregation is performed using adaptive weights computed on a single column as proposed in [1]. Instead of using Dynamic Programming as in [1], the optimization is performed via 2-pass Scanline Optimization. The algorithm is based on the Sum of Absolute Differences (SAD) matching function Only works with grayscale (single channel) rectified images
Definition at line 464 of file stereo_matching.h.
| pcl::AdaptiveCostSOStereoMatching::AdaptiveCostSOStereoMatching | ( | ) |
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overridedefault |
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inline |
setter for the color bandwidth used for cost aggregation based on adaptive weights
| [in] | gamma_c | color bandwidth used for cost aggregation based on adaptive weights |
Definition at line 497 of file stereo_matching.h.
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inline |
setter for the spatial bandwidth used for cost aggregation based on adaptive weights
| [in] | gamma_s | spatial bandwidth used for cost aggregation based on adaptive weights |
Definition at line 486 of file stereo_matching.h.
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inline |
setter for the radius (half length) of the column used for cost aggregation
| [in] | radius | radius (half length) of the column used for cost aggregation; the total column length is equal to 2*radius + 1 |
Definition at line 475 of file stereo_matching.h.
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inline |
"strong" smoothness penalty used within 2-pass Scanline Optimization
| [in] | smoothness_strong | "strong" smoothness penalty cost |
Definition at line 515 of file stereo_matching.h.
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inline |
"weak" smoothness penalty used within 2-pass Scanline Optimization
| [in] | smoothness_weak | "weak" smoothness penalty cost |
Definition at line 506 of file stereo_matching.h.
