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
Threshold for the left-right consistency check, typically either 0 or 1.
Detailed Description
Stereo Matching abstract class.
The class performs stereo matching on a rectified stereo pair.
Includes the following functionalities:
preprocessing of the image pair, to improve robustness against photometric distortions (wrt. to a spatially constant additive photometric factor)
postprocessing: filtering of wrong disparities via Peak Filter (eliminating ambiguities due to low-textured regions) and Ratio Filter (eliminating generic matching ambiguities, similar to that present in OpenCV Block Matching Stereo)
postprocessing: Left-Right consistency check (eliminates wrong disparities at the cost of twice the stereo matching computation)
postprocessing: subpixel refinement of computed disparities, to reduce the depth quantization effect
postprocessing: smoothing of the disparity map via median filter
after stereo matching a PCL point cloud can be computed, given the stereo intrinsic (focal, principal point coordinates) and extrinsic (baseline) calibration parameters
computation of the 3D point cloud from the previously computed disparity map without color information
Note
The "compute" method must have been previously called at least once in order for this function to have any effect
Parameters
[in]
u_c
horizontal coordinate of the principal point (calibration parameter)
[in]
v_c
vertical coordinate of the principal point (calibration parameter)
[in]
focal
focal length in pixels (calibration parameter)
[in]
baseline
distance between the two cameras (calibration parameter); the measure unit used to specify this parameter will be the same as the 3D points in the output point cloud
[out]
cloud
output 3D point cloud; it is organized and non-dense, with NaNs where 3D points are invalid
computation of the 3D point cloud from the previously computed disparity map including color information
Note
The "compute" method must have been previously called at least once in order for this function to have any effect
Parameters
[in]
u_c
horizontal coordinate of the principal point (calibration parameter)
[in]
v_c
vertical coordinate of the principal point (calibration parameter)
[in]
focal
focal length in pixels (calibration parameter)
[in]
baseline
distance between the two cameras (calibration parameter); the measure unit used to specify this parameter will be the same as the 3D points in the output point cloud
[out]
cloud
output 3D point cloud; it is organized and non-dense, with NaNs where 3D points are invalid
[in]
texture
3D cloud (same size of the output cloud) used to associate to each 3D point of the output cloud a color triplet
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
Note
The "compute" method must have been previously called at least once in order for this function to have any effect
setter for the left-right consistency check threshold
Parameters
[in]
lr_check_th
sets the value of the left-right consistency check threshold only has some influence if the left-right check is active typically has either the value 0 ("strong" consistency check, more points being filtered) or 1 ("weak" consistency check, less points being filtered)