Class StereoMatcher¶
Defined in File stereo-matcher.h
Class Documentation¶
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class
dense_reconstruction::stereo
::
StereoMatcher
¶ Public Functions
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StereoMatcher
(const aslam::Camera &first_camera, const aslam::Camera &second_camera, const aslam::Transformation &T_C2_C1, const StereoMatcherConfig &config)¶
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void
computeDisparityMap
(const cv::Mat &first_image, const cv::Mat &second_image, cv::Mat *disparity_map, cv::Mat *first_image_undistorted, cv::Mat *second_image_undistorted) const¶
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void
computePointCloud
(const cv::Mat &first_image, const cv::Mat &second_image, resources::PointCloud *point_cloud) const¶
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void
computeDepthMapForOriginalCamera
(const cv::Mat &first_image, const cv::Mat &second_image, cv::Mat *depth_map) const¶
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inline double
baseline
() const¶
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inline double
cx
() const¶
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inline double
cy
() const¶
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inline double
focal_length
() const¶
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inline int
min_disparity
() const¶
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inline int
num_disparities
() const¶
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inline int
sad_window_size
() const¶
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