Stereo Control

Functions and classes for controlling stereo-specific parameters. More...

Classes
struct	StreamTransmitFlags
class	StereoParameters
	Class for handling parameters of the S3D camera. More...

Functions
bool	PrintCameraCalibrationParams (INodeMap &nodeMap)
	Prints the camera calibration parameters. More...
bool	PrintSGBM_params (CameraPtr pCam)
	Retrieves the camera SGBM related parameters. More...
bool	GetScan3dCoordinateScale (INodeMap &nodeMap, float &scaleFactor)
	Retrieves the disparity scale factor (the factor to multiply to get from integer value to sub-pixel (floating point) disparity). More...
bool	GetScan3dCoordinateOffset (INodeMap &nodeMap, float &coordinateOffset)
	Retrieves the coordinateOffset parameter. More...
bool	GetScan3dInvalidDataFlag (INodeMap &nodeMap, bool &scan3dInvalidDataFlag)
	Retrieves the scan3dInvalidDataFlag parameter. More...
bool	GetScan3dInvalidDataValue (INodeMap &nodeMap, float &scan3dInvalidDataValue)
	Retrieves the scan3dInvalidDataValue parameter. More...
bool	GetScan3dFocalLength (INodeMap &nodeMap, float &focalLength)
	Retrieves the focal length of the reference camera. More...
bool	GetScan3dPrincipalPoint (INodeMap &nodeMap, float &principalPointV, float &principalPointU)
	Retrieves the image center coordinates of the reference camera in pixels. More...
bool	GetScan3dBaseLine (INodeMap &nodeMap, float &baseline)
	Retrieves the baseline distance between the stereo cameras in meters. More...
bool	SetSGBM_params (CameraPtr pCam, StereoParameters &camParameters)
	Sets up the Semi-Global Block Matching algorithm parameters. More...

Detailed Description

Functions and classes for controlling stereo-specific parameters.

Function Documentation

GetScan3dBaseLine()

bool GetScan3dBaseLine	(	INodeMap &	nodeMap,
		float &	baseline
	)

Retrieves the baseline distance between the stereo cameras in meters.

Parameters

baseline

Variable to store the baseline distance.

Returns

True if successful, false otherwise.

GetScan3dCoordinateOffset()

bool GetScan3dCoordinateOffset	(	INodeMap &	nodeMap,
		float &	coordinateOffset
	)

Retrieves the coordinateOffset parameter.

Parameters

nodeMap	the node map to read the coordinateOffset parameter value from.
coordinateOffset	Variable to store the min disparity parameter.

Returns

True if successful, false otherwise.

GetScan3dCoordinateScale()

bool GetScan3dCoordinateScale	(	INodeMap &	nodeMap,
		float &	scaleFactor
	)

Retrieves the disparity scale factor (the factor to multiply to get from integer value to sub-pixel (floating point) disparity).

Parameters

nodeMap	the node map to read the scaleFactor parameter value from.
scaleFactor	Variable to store the scale factor for the disparity.

Returns

True if successful, false otherwise.

GetScan3dFocalLength()

bool GetScan3dFocalLength	(	INodeMap &	nodeMap,
		float &	focalLength
	)

Retrieves the focal length of the reference camera.

Parameters

focalLength

Variable to store the focal length.

Returns

True if successful, false otherwise.

GetScan3dInvalidDataFlag()

bool GetScan3dInvalidDataFlag	(	INodeMap &	nodeMap,
		bool &	scan3dInvalidDataFlag
	)

Retrieves the scan3dInvalidDataFlag parameter.

Parameters

nodeMap	the node map to read the invalidDataFlag parameter value from.
scan3dInvalidDataFlag	Variable to store the invalidDataFlag parameter.

Returns

True if successful, false otherwise.

GetScan3dInvalidDataValue()

bool GetScan3dInvalidDataValue	(	INodeMap &	nodeMap,
		float &	scan3dInvalidDataValue
	)

Retrieves the scan3dInvalidDataValue parameter.

Parameters

scan3dInvalidDataValue

Variable to store the scan3dInvalidDataValue parameter.

Returns

True if successful, false otherwise.

GetScan3dPrincipalPoint()

bool GetScan3dPrincipalPoint	(	INodeMap &	nodeMap,
		float &	principalPointV,
		float &	principalPointU
	)

Retrieves the image center coordinates of the reference camera in pixels.

Parameters

principalPointV	Variable to store the row center (cy) of the camera image.
principalPointU	Variable to store the column center (cx) of the camera image.

Returns

True if successful, false otherwise.

PrintCameraCalibrationParams()

bool PrintCameraCalibrationParams

(

INodeMap &

nodeMap

)

Prints the camera calibration parameters.

Returns

True if successful, false otherwise.

Examples

StereoAcquisition.cpp, and StereoGPIO.cpp.

PrintSGBM_params()

bool PrintSGBM_params

(

CameraPtr

pCam

)

Retrieves the camera SGBM related parameters.

Returns

True if successful, false otherwise.

SetSGBM_params()

bool SetSGBM_params	(	CameraPtr	pCam,
		StereoParameters &	camParameters
	)

Sets up the Semi-Global Block Matching algorithm parameters.

Parameters

camParameters

Pointer to the camera parameters.

Returns

True if successful, false otherwise.