UnitreeCameraSDK  1.0.1
unitree stereo camra apis
Typedefs | Enumerations | Functions
StereoCameraCommon.cc File Reference

This file is part of UnitreeCameraSDK, which implement stereo vision algorithm. More...

#include "StereoCameraCommon.hpp"
#include <unistd.h>
#include <sys/shm.h>
Include dependency graph for StereoCameraCommon.cc:

Typedefs

typedef enum ImageRect ImageRectType
 

Enumerations

enum  ImageRect { RECT_FISHEYE = 0, RECT_LONGLAT, RECT_PERSPECTIVE }
 This enum is used for stereo images rectification. More...
 

Functions

double MatRowMul (cv::Mat m, double x, double y, double z, int r)
 
int convertRawFisheyeImage (cv::Mat &left, cv::Mat &right, float da=0.0, float db=-32.0, float dcx=0.0, float dcy=0.0)
 
int convertRawFisheyeImage (int radius, cv::Mat &left, cv::Mat &right)
 
bool initRectifyMap (cv::Mat K, cv::Mat D, cv::Mat R, cv::Mat Knew, double xi0, double xi1, cv::Size size, int mode, cv::Mat &map1, cv::Mat &map2)
 
uchar getBlueSegVal (float minv, float maxv, float curv)
 
uchar getGreenSegVal (float minv, float maxv, float curv)
 
uchar getRedSegVal (float minv, float maxv, float curv)
 

Detailed Description

This file is part of UnitreeCameraSDK, which implement stereo vision algorithm.

image capture, image rectification, disparity computation, point cloud generation

Author
ZhangChunyang create date 2021.07.31
Version
1.0.1

Enumeration Type Documentation

◆ ImageRect

enum ImageRect

This enum is used for stereo images rectification.

FISHEYE and LONGLAT for fisheye camera model, PERSPECTIVE for pinhole cameras

Note
used for differen camera models
Attention
make sure camera model is matched.