Class StereoMatcher

Class Documentation

class dense_reconstruction::stereo::StereoMatcher

Public Functions

StereoMatcher(const aslam::Camera &first_camera, const aslam::Camera &second_camera, const aslam::Transformation &T_C2_C1, const StereoMatcherConfig &config)
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
void computePointCloud(const cv::Mat &first_image, const cv::Mat &second_image, resources::PointCloud *point_cloud) const
void computeDepthMapForOriginalCamera(const cv::Mat &first_image, const cv::Mat &second_image, cv::Mat *depth_map) const
inline double baseline() const
inline double cx() const
inline double cy() const
inline double focal_length() const
inline int min_disparity() const
inline int num_disparities() const
inline int sad_window_size() const