libvisiontransfer  5.2.0
reconstruct3d.h
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14 
15 #ifndef VISIONTRANSFER_RECONSTRUCT3D_H
16 #define VISIONTRANSFER_RECONSTRUCT3D_H
17 
18 #include <limits>
19 #include "visiontransfer/common.h"
20 #include "visiontransfer/imagepair.h"
21 
28 class VT_EXPORT Reconstruct3D {
29 public:
33  Reconstruct3D();
34 
35  ~Reconstruct3D();
36 
65  float* createPointMap(const unsigned short* dispMap, int width, int height,
66  int rowStride, const float* q, unsigned short minDisparity = 1);
67 
80  float* createPointMap(const ImagePair& imagePair, unsigned short minDisparity = 1);
81 
102  void projectSinglePoint(int imageX, int imageY, unsigned short disparity, const float* q,
103  float& pointX, float& pointY, float& pointZ);
104 
129  void writePlyFile(const char* file, const unsigned short* dispMap,
130  const unsigned char* image, int width, int height,
131  int dispRowStride, int imageRowStride, const float* q,
132  double maxZ = std::numeric_limits<double>::max(),
133  bool binary = false);
134 
149  void writePlyFile(const char* file, const ImagePair& imagePair,
150  double maxZ = std::numeric_limits<double>::max(), bool binary = false);
151 
152 private:
153  // We follow the pimpl idiom
154  class Pimpl;
155  Pimpl* pimpl;
156 
157  // This class cannot be copied
158  Reconstruct3D(const Reconstruct3D& other);
159  Reconstruct3D& operator=(const Reconstruct3D&);
160 };
161 
162 #endif
Transforms a disparity map into a set of 3D points.
Definition: reconstruct3d.h:28
A set of two images, which are usually the left camera image and the disparity map.
Definition: imagepair.h:30
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