Fawkes API
Fawkes Development Version
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24 #ifndef _FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
25 #define _FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
27 #include <sys/types.h>
29 namespace firevision {
38 virtual bool get_xyz(
unsigned int px,
unsigned int py,
float *x,
float *y,
float *z) = 0;
40 virtual bool get_world_xyz(
unsigned int px,
unsigned int py,
float *x,
float *y,
float *z) = 0;
virtual size_t disparity_buffer_size() const =0
Get disparity buffer size.
virtual unsigned char * yuv_buffer_right()=0
Get YUV-formatted buffer of reference camera.
Stereo processor interface.
virtual bool get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)=0
Get coordinates for pixel in camera coordinate system.
virtual void preprocess_stereo()=0
Do any pre-processing needed.
virtual void calculate_yuv(bool both=false)=0
Caculate yuv images.
virtual void calculate_disparity(ROI *roi=0)=0
Caculate disparity images.
virtual unsigned char * disparity_buffer()=0
Get the disparity image buffer.
virtual bool get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)=0
Get coordinates for pixel in robot coordinate system.
virtual ~StereoProcessor()
Virtual empty destructor.
virtual unsigned char * yuv_buffer_left()=0
Get YUV-formatted buffer of left camera.