Use this class for creating 3D images from a stereo bench. More...

Detailed Description

Use this class for creating 3D images from a stereo bench.

Definition at line 20 of file StereoPixel.hpp.

Public Member Functions
	StereoPixel (int reduction, SP_TYPE_CORRELATION type_correlation=SP_CORRELATION_ZNCC, int windowHeight=7, int windowWidth=7)
	Construct an object to compute the correlation between left and right images of a stereo bench.
void	loadStereoParam (std::string const &filename)
	Load the configuration file for the stereo bench.
void	loadLeftParam (std::string const &filename)
	Load the configuration file for the left camera.
void	correlationFor (const jafar::image::Image &left, const jafar::image::Image &right, int previous_reduction=1)
	This function will compute the correlation between the left and right image.
jafar::calife::Image3d *	reconstruction3D ()
	implements the Reconstruction algorithm.
void	reconstruction3D_on_image (jafar::calife::Image3d &)
int	countCorrelated ()
void	printRes () const
image::Image *	getJfrImageForDisparity ()
void	getJfrImageForDisparity (image::Image *image)
float	disparityAt (unsigned int _x, unsigned int _y)
double *	getMatIntrinsequeRectifiee ()
	Accessor to the Intrinsec Rectified Matrix.
Private Attributes
SP_TYPE_CORRELATION	m_type_correlation
int	m_windowHeight
int	m_windowWidth
SP_CORRELATION_RESULTS *	m_correlation_results
double	mat_intrinseque [16]
double	mat_intrinseque_rectifiee [16]
double	baseline
double	rect_2_cam [9]
int	m_reduction
double	m_scale
SP_IMAGES_SIZES *	m_images_sizes

Constructor & Destructor Documentation

jafar::jstereopixel::StereoPixel::StereoPixel	(	int	reduction,
		SP_TYPE_CORRELATION	type_correlation = `SP_CORRELATION_ZNCC`,
		int	windowHeight = `7`,
		int	windowWidth = `7`
	)

Construct an object to compute the correlation between left and right images of a stereo bench.

Parameters:

reduction	reduction rate used for the image between the images used during calibration and images used for computing the correlation
type_correlation	the type of pixel correlation
windowsHeight	the height of the correlation window
windowWidth	the width of the correlation window

void jafar::jstereopixel::StereoPixel::correlationFor	(	const jafar::image::Image &	left,
		const jafar::image::Image &	right,
		int	previous_reduction = `1`
	)

This function will compute the correlation between the left and right image.

Parameters:

left	the image for the left camera
right	the image for the right camera
previous_reduction	if the image has been reduced / transformed by viam / camera, it is the reduction factor used. Otherwise 1.

float jafar::jstereopixel::StereoPixel::disparityAt	(	unsigned int	_x,
		unsigned int	_y
	)

Returns:: the value of the disparity at the pixel ( _x , _y ) The disparity is equal to "0.0" when the pixel didn't correlate.

jafar::calife::Image3d* jafar::jstereopixel::StereoPixel::reconstruction3D ( )

implements the Reconstruction algorithm.

Note:: this function will use the result from the last StereoPixel::correlationFor call

Parameters:

im3d	an image of 3D points

The documentation for this class was generated from the following file: