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:

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

Copyright: Copyright (c)2019-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.

Enumeration Type Documentation

This enum is used for stereo images rectification.

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