|
Point Cloud Library (PCL)
1.15.0-dev
|
•All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
|
Point Cloud Library (PCL)
1.15.0-dev
|
Block based (or fixed window) Stereo Matching class. More...
#include <pcl/stereo/stereo_matching.h>
Inheritance diagram for pcl::BlockBasedStereoMatching: Collaboration diagram for pcl::BlockBasedStereoMatching:Public Member Functions | |
| BlockBasedStereoMatching () | |
| ~BlockBasedStereoMatching () override=default | |
| void | setRadius (int radius) |
| setter for the radius of the squared window 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... | |
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
Definition at line 428 of file stereo_matching.h.
| pcl::BlockBasedStereoMatching::BlockBasedStereoMatching | ( | ) |
|
overridedefault |
|
inline |
setter for the radius of the squared window
| [in] | radius | radius of the squared window used to compute the block-based stereo algorithm the window side is equal to 2*radius + 1 |
Definition at line 438 of file stereo_matching.h.
