Changeset 68 in pacpussensors for trunk/StereoVisionDisparity/ObstacleDetectionComponent.h

Timestamp:

10/08/14 15:02:31 (10 years ago)

Author:

phudelai

Message:

New function

File:

• trunk/StereoVisionDisparity/ObstacleDetectionComponent.h (modified) (2 diffs)

trunk/StereoVisionDisparity/ObstacleDetectionComponent.h

@@ -74 +74 @@
         double cam_ref_fx;              // fx camera divide by x image size
         double cam_ref_fy;              // fy camera divide by y image size
+        double cam_baseline;    // distance between two cameras in meter
         bool showdebug;                 // Show frame acquired
         int min_disp;                   // Minimum disparity value to detect obstacles in the u/v-disp map
@@ -194 +195 @@
         A CalcMedian(std::vector<A> vetor) const;
 
-        //bool PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity);
+        bool PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity);
 };