<trclass="memdesc:a405d17f179327670251fca395728584b"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Parse parameters from a parameters map. <br/></td></tr>
<trclass="memdesc:abde66966de114cd5649fd22602d27816"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the number of iterations. <br/></td></tr>
<trclass="memdesc:a3834923d75c9453e885bea01cb5ecfa5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the maximum pyramid level. <br/></td></tr>
<trclass="memdesc:a83319186c8c434ad0482d2eb911ecd31"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Get the maximum disparity value. <br/></td></tr>
<trclass="memdesc:aed372a471e6d3ea72713e239709da978"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Check if SSD (Sum of Squared Differences) is used. <br/></td></tr>
<trclass="memdesc:ac1db900d4dbca15de73a81d32f0be179"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Check if GPU acceleration is enabled. <br/></td></tr>
<trclass="memdesc:a2ce0c01fac282e0a8ffd862608fa2d96"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Factory method to create a <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance. <br/></td></tr>
<divclass="textblock"><p>Sparse stereo matching using block matching. </p>
<p>This class implements sparse stereo matching to find corresponding feature points between stereo image pairs using block matching with a search window. Unlike dense stereo matching, this class works with sparse feature points rather than computing disparity for every pixel.</p>
<p>The algorithm uses a pyramidal approach for efficiency, searching for correspondences within a specified disparity range using either SAD (Sum of Absolute Differences) or SSD (Sum of Squared Differences) as the matching cost.</p>
<dlclass="section note"><dt>Note</dt><dd>Input images must be grayscale (CV_8UC1). </dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1StereoOpticalFlow.html"title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> for an alternative implementation using optical flow </dd>
<dd>
<aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> for dense stereo matching </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00055">55</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<p>Initializes a <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance with default parameter values and then parses the provided parameters map to override defaults.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">parameters</td><td>Optional parameters map containing configuration values. If empty, default values are used. </td></tr>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00087">87</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
</div>
</div>
<h2class="groupheader">Member Function Documentation</h2>
<p>Factory method to create a <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance based on the stereo optical flow parameter in the provided parameters map. If optical flow is enabled, creates a <aclass="el"href="classrtabmap_1_1StereoOpticalFlow.html"title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> instance; otherwise, creates a standard <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">parameters</td><td><aclass="el"href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values. The <aclass="el"href="classrtabmap_1_1Parameters.html#ad470670e0402cd380b121ace088af0ce"title="Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences,...">Parameters::kStereoOpticalFlow()</a> parameter determines which implementation to create. </td></tr>
</table>
</dd>
</dl>
<dlclass="section return"><dt>Returns</dt><dd>Pointer to the created <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> instance (caller owns the memory). Returns <aclass="el"href="classrtabmap_1_1StereoOpticalFlow.html"title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> if optical flow is enabled, otherwise <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a>. </dd></dl>
<p>Updates the algorithm's configuration based on the provided parameters map. Supported parameters:</p><ul>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a8e640d7ef0c460cc5a351281a555906d"title="Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).">Parameters::kStereoWinWidth()</a> - Search window width</li>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a99b81c7a85099acdbe4607529284c49d"title="Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).">Parameters::kStereoWinHeight()</a> - Search window height</li>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a9e9c277fa721913a43a674690c8873aa"title="Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).">Parameters::kStereoIterations()</a> - Number of iterations</li>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a1dc98c5dceadcdad9b51755f2e3dd8a0"title="Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).">Parameters::kStereoMaxLevel()</a> - Maximum pyramid level</li>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a83e72c20844ef412aaebfb76c64a88d4"title="Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).">Parameters::kStereoMaxDisparity()</a> - Maximum disparity value</li>
<li><aclass="el"href="classrtabmap_1_1Parameters.html#a43ba1fe4dc96d2206f2d435faada0faa"title="Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window,...">Parameters::kStereoSSD()</a> - Use SSD instead of SAD</li>
<p>Compute stereo correspondences using block matching. </p>
<p>Finds corresponding points in the right stereo image for the given points in the left stereo image using block matching with a search window. The algorithm uses a pyramidal approach for efficiency.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">leftImage</td><td>Left stereo image (must be CV_8UC1 grayscale) </td></tr>
<tr><tdclass="paramname">rightImage</td><td>Right stereo image (must be CV_8UC1 grayscale) </td></tr>
<tr><tdclass="paramname">leftCorners</td><td>Input vector of feature points in the left image </td></tr>
<tr><tdclass="paramname">status</td><td>Output vector indicating which correspondences are valid (1) or invalid (0). The size matches leftCorners.size(). </td></tr>
</table>
</dd>
</dl>
<dlclass="section return"><dt>Returns</dt><dd>Vector of corresponding points in the right image. The size matches leftCorners.size(). Invalid correspondences may have coordinates outside the image bounds. </dd></dl>
<dlclass="section note"><dt>Note</dt><dd>Both input images must be grayscale (CV_8UC1). </dd>
<dd>
The algorithm searches for correspondences within the disparity range [<aclass="el"href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742"title="Get the minimum disparity value.">minDisparity()</a>, <aclass="el"href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31"title="Get the maximum disparity value.">maxDisparity()</a>] and uses a search window of size <aclass="el"href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54"title="Get the search window size.">winSize()</a>. </dd></dl>
<p>Reimplemented in <aclass="el"href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">rtabmap::StereoOpticalFlow</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Search window size as cv::Size(winWidth_, winHeight_) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00154">154</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Number of iterations for the matching algorithm </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00160">160</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Maximum pyramid level used in the pyramidal approach </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00166">166</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Minimum disparity value to search (in pixels) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00172">172</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Maximum disparity value to search (in pixels) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00178">178</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<p>Check if SSD (Sum of Squared Differences) is used. </p>
<dlclass="section return"><dt>Returns</dt><dd>true if SSD is used, false if SAD (Sum of Absolute Differences) is used </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00184">184</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Always returns false for the base <aclass="el"href="classrtabmap_1_1Stereo.html"title="Sparse stereo matching using block matching.">Stereo</a> class </dd></dl>
<p>Reimplemented in <aclass="el"href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="Stereo_8h_source.html#l00190">190</a> of file <aclass="el"href="Stereo_8h_source.html">Stereo.h</a>.</p>
</div>
</div>
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