uvsim::StereoEngine Class Reference

#include <StereoEngine.h>

List of all members.

Public Member Functions
	StereoEngine (IplImage *frameL, IplImage *frameR)
virtual	~StereoEngine ()
void	captureCalibrationImages (int number)
void	findDisparity ()
void	displayDisparity ()
IplImage *	reprojectTo3d ()
void	drawPointCloud ()
osg::StateSet *	makeStateSet (float size)
void	loadMatrices ()
void	capture ()
void	drawPoints (int index)
Static Public Member Functions
static void	stereoCalibrate (std::string imageList, int nx, int ny, int useUncalibrated)
Public Attributes
pthread_t	viewerThread
osgViewer::Viewer	viewer
IplImage *	leftImage
IplImage *	rightImage
IplImage *	leftGreyR
IplImage *	rightGreyR
IplImage *	leftGrey
IplImage *	rightGrey
IplImage *	eig
IplImage *	temp
IplImage *	threeD
IplImage *	leftImageR
CvPoint2D32f *	points [2]
CvMat *	Q
CvMat *	F
CvMat *	R1
CvMat *	R2
CvMat *	P1
CvMat *	P2
CvMat *	M1
CvMat *	M2
CvMat *	D1
CvMat *	D2
CvMat *	mx1
CvMat *	my1
CvMat *	mx2
CvMat *	my2
CvMat *	pair
CvMat *	R
CvMat *	T
CvMat *	E
CvMat *	disp
CvMat *	vdisp
CvMat *	img1r
CvMat *	img2r
CvMat *	realDisp
CvStereoBMState *	BMState
IplImage *	frameL
IplImage *	frameR
int	pointCount
CvSize	imageSize
std::vector< std::string >	imageNames [2]
Static Public Attributes
static const int	winSize = 10
static const int	maxCount = 20
static const double	quality = 0.01
static const double	minDistance = 10

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Detailed Description

Definition at line 40 of file StereoEngine.h.

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Constructor & Destructor Documentation

uvsim::StereoEngine::StereoEngine	(	IplImage *	frameL,
		IplImage *	frameR
	)

Definition at line 38 of file StereoEngine.cc.

uvsim::StereoEngine::~StereoEngine

(

)

[virtual]

Definition at line 85 of file StereoEngine.cc.

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Member Function Documentation

void uvsim::StereoEngine::capture

(

)

Definition at line 643 of file StereoEngine.cc.

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void uvsim::StereoEngine::captureCalibrationImages

(

int

number

)

Definition at line 132 of file StereoEngine.cc.

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void uvsim::StereoEngine::displayDisparity

(

)

Definition at line 464 of file StereoEngine.cc.

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void uvsim::StereoEngine::drawPointCloud

(

)

Definition at line 501 of file StereoEngine.cc.

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void uvsim::StereoEngine::drawPoints

(

int

index

)

Definition at line 692 of file StereoEngine.cc.

void uvsim::StereoEngine::findDisparity

(

)

Definition at line 344 of file StereoEngine.cc.

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void uvsim::StereoEngine::loadMatrices

(

)

Definition at line 621 of file StereoEngine.cc.

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osg::StateSet * uvsim::StereoEngine::makeStateSet

(

float

size

)

Setup cool blending

Setup the point sprites

Give some size to the points to be able to see the sprite

Disable depth test to avoid sort problems and Lighting

The texture for the sprites

Definition at line 590 of file StereoEngine.cc.

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IplImage * uvsim::StereoEngine::reprojectTo3d

(

)

Definition at line 494 of file StereoEngine.cc.

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void uvsim::StereoEngine::stereoCalibrate	(	std::string	imageList,
		int	nx,
		int	ny,
		int	useUncalibrated
	)			[static]

Definition at line 146 of file StereoEngine.cc.

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Member Data Documentation

CvStereoBMState* uvsim::StereoEngine::BMState

Definition at line 57 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::D1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::D2

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::disp

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::E

Definition at line 54 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::eig

Definition at line 51 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::F

Definition at line 54 of file StereoEngine.h.

IplImage* uvsim::StereoEngine::frameL

Definition at line 60 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::frameR

Definition at line 60 of file StereoEngine.h.

std::vector<std::string> uvsim::StereoEngine::imageNames[2]

Definition at line 66 of file StereoEngine.h.

CvSize uvsim::StereoEngine::imageSize

Definition at line 65 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::img1r

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::img2r

Definition at line 54 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::leftGrey

Definition at line 51 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::leftGreyR

Definition at line 51 of file StereoEngine.h.

IplImage* uvsim::StereoEngine::leftImage

Definition at line 51 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::leftImageR

Definition at line 51 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::M1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::M2

Definition at line 54 of file StereoEngine.h.

const int uvsim::StereoEngine::maxCount = 20 [static]

Definition at line 44 of file StereoEngine.h.

const double uvsim::StereoEngine::minDistance = 10 [static]

Definition at line 46 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::mx1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::mx2

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::my1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::my2

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::P1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::P2

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::pair

Definition at line 54 of file StereoEngine.h.

int uvsim::StereoEngine::pointCount

Definition at line 64 of file StereoEngine.h.

CvPoint2D32f* uvsim::StereoEngine::points[2]

Definition at line 53 of file StereoEngine.h.

CvMat* uvsim::StereoEngine::Q

Definition at line 54 of file StereoEngine.h.

const double uvsim::StereoEngine::quality = 0.01 [static]

Definition at line 45 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::R

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::R1

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::R2

Definition at line 54 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::realDisp

Definition at line 54 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::rightGrey

Definition at line 51 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::rightGreyR

Definition at line 51 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::rightImage

Definition at line 51 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::T

Definition at line 54 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::temp

Definition at line 51 of file StereoEngine.h.

IplImage * uvsim::StereoEngine::threeD

Definition at line 51 of file StereoEngine.h.

CvMat * uvsim::StereoEngine::vdisp

Definition at line 54 of file StereoEngine.h.

osgViewer::Viewer uvsim::StereoEngine::viewer

Definition at line 48 of file StereoEngine.h.

pthread_t uvsim::StereoEngine::viewerThread

Definition at line 47 of file StereoEngine.h.

const int uvsim::StereoEngine::winSize = 10 [static]

Definition at line 43 of file StereoEngine.h.

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

• /home/jgoppert/Projects/uvsim/uvsim/src/uvsim/sensing/StereoEngine.h
• /home/jgoppert/Projects/uvsim/uvsim/src/uvsim/sensing/StereoEngine.cc