DepthFromStereo.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
class CByteImage;
class CStereoCalibration;
 
#include <vector>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
namespace visionx::depthfromstereo
{
    void GetPointsFromDisparity(const CByteImage* pImageLeftColor,
                                const CByteImage* pImageRightColor,
                                const CByteImage* pImageLeftGrey,
                                const CByteImage* pImageRightGrey,
                                const int nDisparityPointDistance,
                                pcl::PointCloud<pcl::PointXYZRGBA>& aPointsFromDisparity,
                                CByteImage* pDisparityImage,
                                const int imageWidth,
                                const int imageHeight,
                                CStereoCalibration* pStereoCalibration,
                                bool imagesAreUndistorted,
                                const bool smoothDisparities = true);
 
    void FillHolesGray(const CByteImage* pInputImage,
                       CByteImage* pOutputImage,
                       const int imageWidth,
                       const int imageHeight,
                       const int nRadius = 1);
 
    void CalculateSmoothedDisparityImage(float* pInputDisparity,
                                         float* pSmoothedDisparity,
                                         const int imageWidth,
                                         const int imageHeight,
                                         const int nRadius = 1);
 
} // namespace visionx::depthfromstereo