opentl::cvprocess::DisparityMapGPU Class Reference

Class for computing the disparity map of two stereo images. More...

List of all members.

Public Member Functions
void	adjustProjMat ()
	TODO: required for rectification of input images.
void	copyDispMapToCpu (opentl::core::cvdata::Image *dstDispMap)
	Copy disparity map from GPU to CPU memory.
	DisparityMapGPU (bool inputImagesAreRectified)
	Constructor.
void	initialize ()
	Function for initialization, which needs to be called after the constructor.
int	setPointersToInputImagesFromCpu (opentl::core::cvdata::Image **leftImg, opentl::core::cvdata::Image **rightImg)
	Define CPU based source images.
void	updateCameraParams ()
	TODO: required for rectification of input images.
int	updateMap (int rangeLow, int rangeHigh, int useMaxMipLevel, bool useLensDistCorr=false)
	Compute disparity map and set required parameters.
virtual	~DisparityMapGPU ()

---

Detailed Description

Class for computing the disparity map of two stereo images.

Author:

Erwin Roth <erwn.roth@weihenstephan.org>

---

Constructor & Destructor Documentation

opentl::cvprocess::DisparityMapGPU::DisparityMapGPU

(

bool

inputImagesAreRectified

)

Constructor.

Parameters:

inputImagesAreRectified

Set to false, if images need to be rectified. TODO: rectification is till now not working!

virtual opentl::cvprocess::DisparityMapGPU::~DisparityMapGPU

(

)

[virtual]

---

Member Function Documentation

void opentl::cvprocess::DisparityMapGPU::adjustProjMat

(

)

TODO: required for rectification of input images.

void opentl::cvprocess::DisparityMapGPU::copyDispMapToCpu

(

opentl::core::cvdata::Image *

dstDispMap

)

Copy disparity map from GPU to CPU memory.

void opentl::cvprocess::DisparityMapGPU::initialize

(

)

Function for initialization, which needs to be called after the constructor.

int opentl::cvprocess::DisparityMapGPU::setPointersToInputImagesFromCpu	(	opentl::core::cvdata::Image **	leftImg,
		opentl::core::cvdata::Image **	rightImg
	)

Define CPU based source images.

Parameters:

	leftImg	Left RGB image
	rightImg	Right RGB image

ATTENTION: Don't use for images >= 1024x768! it needs to be further optimized for this!!

void opentl::cvprocess::DisparityMapGPU::updateCameraParams

(

)

TODO: required for rectification of input images.

int opentl::cvprocess::DisparityMapGPU::updateMap	(	int	rangeLow,
		int	rangeHigh,
		int	useMaxMipLevel,
		bool	useLensDistCorr = false
	)

Compute disparity map and set required parameters.

Parameters:

	rangeLow	lowest pixel deviation of input images
	rangeHigh	highest pixel deviation of input images
	useMaxMipLevel	Add values up to this mip level
	useLensDistCorr	Flag to use lense distortion correction