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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="#pub-static-methods">Static Public Member Functions</a> |
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<a href="classrtabmap_1_1Stereo-members.html">List of all members</a> </div>
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<div class="headertitle"><div class="title">rtabmap::Stereo Class Reference</div></div>
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<p>Sparse stereo matching using block matching.
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<a href="classrtabmap_1_1Stereo.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="Stereo_8h_source.html">Stereo.h</a>></code></p>
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Inheritance diagram for rtabmap::Stereo:</div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a1031c68f4e66690da216718382af0ab3" id="r_a1031c68f4e66690da216718382af0ab3"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3">Stereo</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:a1031c68f4e66690da216718382af0ab3"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="separator:a1031c68f4e66690da216718382af0ab3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aca70a15916baf916d6d66c93dad6b3d5" id="r_aca70a15916baf916d6d66c93dad6b3d5"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5">~Stereo</a> ()</td></tr>
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<tr class="memdesc:aca70a15916baf916d6d66c93dad6b3d5"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="separator:aca70a15916baf916d6d66c93dad6b3d5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a405d17f179327670251fca395728584b" id="r_a405d17f179327670251fca395728584b"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
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<tr class="memdesc:a405d17f179327670251fca395728584b"><td class="mdescLeft"> </td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
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<tr class="separator:a405d17f179327670251fca395728584b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aefb9a38643b353727430c4bb6a551382" id="r_aefb9a38643b353727430c4bb6a551382"><td class="memItemLeft" align="right" valign="top">virtual std::vector< cv::Point2f > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382">computeCorrespondences</a> (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const</td></tr>
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<tr class="memdesc:aefb9a38643b353727430c4bb6a551382"><td class="mdescLeft"> </td><td class="mdescRight">Compute stereo correspondences using block matching. <br /></td></tr>
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<tr class="separator:aefb9a38643b353727430c4bb6a551382"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5474ebbc178bcc29ebaff3d9d4e22e54" id="r_a5474ebbc178bcc29ebaff3d9d4e22e54"><td class="memItemLeft" align="right" valign="top">cv::Size </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54">winSize</a> () const</td></tr>
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<tr class="memdesc:a5474ebbc178bcc29ebaff3d9d4e22e54"><td class="mdescLeft"> </td><td class="mdescRight">Get the search window size. <br /></td></tr>
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<tr class="separator:a5474ebbc178bcc29ebaff3d9d4e22e54"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abde66966de114cd5649fd22602d27816" id="r_abde66966de114cd5649fd22602d27816"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816">iterations</a> () const</td></tr>
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<tr class="memdesc:abde66966de114cd5649fd22602d27816"><td class="mdescLeft"> </td><td class="mdescRight">Get the number of iterations. <br /></td></tr>
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<tr class="separator:abde66966de114cd5649fd22602d27816"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3834923d75c9453e885bea01cb5ecfa5" id="r_a3834923d75c9453e885bea01cb5ecfa5"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5">maxLevel</a> () const</td></tr>
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<tr class="memdesc:a3834923d75c9453e885bea01cb5ecfa5"><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum pyramid level. <br /></td></tr>
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<tr class="separator:a3834923d75c9453e885bea01cb5ecfa5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaeec1e0e5470b1b1268b4e04bff81742" id="r_aaeec1e0e5470b1b1268b4e04bff81742"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">minDisparity</a> () const</td></tr>
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<tr class="memdesc:aaeec1e0e5470b1b1268b4e04bff81742"><td class="mdescLeft"> </td><td class="mdescRight">Get the minimum disparity value. <br /></td></tr>
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<tr class="separator:aaeec1e0e5470b1b1268b4e04bff81742"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a83319186c8c434ad0482d2eb911ecd31" id="r_a83319186c8c434ad0482d2eb911ecd31"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31">maxDisparity</a> () const</td></tr>
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<tr class="memdesc:a83319186c8c434ad0482d2eb911ecd31"><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum disparity value. <br /></td></tr>
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<tr class="separator:a83319186c8c434ad0482d2eb911ecd31"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aed372a471e6d3ea72713e239709da978" id="r_aed372a471e6d3ea72713e239709da978"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978">winSSD</a> () const</td></tr>
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<tr class="memdesc:aed372a471e6d3ea72713e239709da978"><td class="mdescLeft"> </td><td class="mdescRight">Check if SSD (Sum of Squared Differences) is used. <br /></td></tr>
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<tr class="separator:aed372a471e6d3ea72713e239709da978"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac1db900d4dbca15de73a81d32f0be179" id="r_ac1db900d4dbca15de73a81d32f0be179"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">isGpuEnabled</a> () const</td></tr>
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<tr class="memdesc:ac1db900d4dbca15de73a81d32f0be179"><td class="mdescLeft"> </td><td class="mdescRight">Check if GPU acceleration is enabled. <br /></td></tr>
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<tr class="separator:ac1db900d4dbca15de73a81d32f0be179"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:a2ce0c01fac282e0a8ffd862608fa2d96" id="r_a2ce0c01fac282e0a8ffd862608fa2d96"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96">create</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:a2ce0c01fac282e0a8ffd862608fa2d96"><td class="mdescLeft"> </td><td class="mdescRight">Factory method to create a <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> instance. <br /></td></tr>
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<tr class="separator:a2ce0c01fac282e0a8ffd862608fa2d96"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Sparse stereo matching using block matching. </p>
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<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>
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<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>
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<dl class="section note"><dt>Note</dt><dd>Input images must be grayscale (CV_8UC1). </dd></dl>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html" title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> for an alternative implementation using optical flow </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1StereoDense.html" title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> for dense stereo matching </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00055">55</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a1031c68f4e66690da216718382af0ab3" name="a1031c68f4e66690da216718382af0ab3"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1031c68f4e66690da216718382af0ab3">◆ </a></span>Stereo()</h2>
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<div class="memitem">
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<td class="memname">rtabmap::Stereo::Stereo </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
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<p>Constructor. </p>
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<p>Initializes a <a class="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>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">parameters</td><td>Optional parameters map containing configuration values. If empty, default values are used. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#aca70a15916baf916d6d66c93dad6b3d5">◆ </a></span>~Stereo()</h2>
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<td class="memname">virtual rtabmap::Stereo::~Stereo </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Virtual destructor. </p>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00087">87</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ce0c01fac282e0a8ffd862608fa2d96">◆ </a></span>create()</h2>
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<td class="memname">static <a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a> * rtabmap::Stereo::create </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
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<p>Factory method to create a <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> instance. </p>
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<p>Creates a <a class="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 <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html" title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> instance; otherwise, creates a standard <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> instance.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">parameters</td><td><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values. The <a class="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>
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<dl class="section return"><dt>Returns</dt><dd>Pointer to the created <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> instance (caller owns the memory). Returns <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html" title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> if optical flow is enabled, otherwise <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a>. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a405d17f179327670251fca395728584b">◆ </a></span>parseParameters()</h2>
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<td class="memname">virtual void rtabmap::Stereo::parseParameters </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
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<td class="paramname"><em>parameters</em></td><td>)</td>
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<p>Parse parameters from a parameters map. </p>
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<p>Updates the algorithm's configuration based on the provided parameters map. Supported parameters:</p><ul>
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<li><a class="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>
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<li><a class="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>
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<li><a class="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>
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<li><a class="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>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a7bdfbe42d80d37e4ea46f85e88c8fb7d" title="Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).">Parameters::kStereoMinDisparity()</a> - Minimum disparity value</li>
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<li><a class="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>
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<li><a class="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>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">parameters</td><td><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values </td></tr>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78">rtabmap::StereoOpticalFlow</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aefb9a38643b353727430c4bb6a551382">◆ </a></span>computeCorrespondences()</h2>
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<td class="memname">virtual std::vector< cv::Point2f > rtabmap::Stereo::computeCorrespondences </td>
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<p>Compute stereo correspondences using block matching. </p>
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<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>
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<tr><td class="paramname">leftImage</td><td>Left stereo image (must be CV_8UC1 grayscale) </td></tr>
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<dl class="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>
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<dl class="section note"><dt>Note</dt><dd>Both input images must be grayscale (CV_8UC1). </dd>
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The algorithm searches for correspondences within the disparity range [<a class="el" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742" title="Get the minimum disparity value.">minDisparity()</a>, <a class="el" href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31" title="Get the maximum disparity value.">maxDisparity()</a>] and uses a search window of size <a class="el" href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54" title="Get the search window size.">winSize()</a>. </dd></dl>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">rtabmap::StereoOpticalFlow</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5474ebbc178bcc29ebaff3d9d4e22e54">◆ </a></span>winSize()</h2>
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<p>Get the search window size. </p>
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<dl class="section return"><dt>Returns</dt><dd>Search window size as cv::Size(winWidth_, winHeight_) </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00154">154</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abde66966de114cd5649fd22602d27816">◆ </a></span>iterations()</h2>
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<p>Get the number of iterations. </p>
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<dl class="section return"><dt>Returns</dt><dd>Number of iterations for the matching algorithm </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00160">160</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3834923d75c9453e885bea01cb5ecfa5">◆ </a></span>maxLevel()</h2>
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<td class="memname">int rtabmap::Stereo::maxLevel </td>
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<p>Get the maximum pyramid level. </p>
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<dl class="section return"><dt>Returns</dt><dd>Maximum pyramid level used in the pyramidal approach </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00166">166</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aaeec1e0e5470b1b1268b4e04bff81742">◆ </a></span>minDisparity()</h2>
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<p>Get the minimum disparity value. </p>
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<dl class="section return"><dt>Returns</dt><dd>Minimum disparity value to search (in pixels) </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00172">172</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a83319186c8c434ad0482d2eb911ecd31">◆ </a></span>maxDisparity()</h2>
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<td class="memname">float rtabmap::Stereo::maxDisparity </td>
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<p>Get the maximum disparity value. </p>
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<dl class="section return"><dt>Returns</dt><dd>Maximum disparity value to search (in pixels) </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00178">178</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aed372a471e6d3ea72713e239709da978">◆ </a></span>winSSD()</h2>
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<td class="memname">bool rtabmap::Stereo::winSSD </td>
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<p>Check if SSD (Sum of Squared Differences) is used. </p>
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<dl class="section return"><dt>Returns</dt><dd>true if SSD is used, false if SAD (Sum of Absolute Differences) is used </dd></dl>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00184">184</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac1db900d4dbca15de73a81d32f0be179">◆ </a></span>isGpuEnabled()</h2>
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<td class="memname">virtual bool rtabmap::Stereo::isGpuEnabled </td>
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<p>Check if GPU acceleration is enabled. </p>
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<dl class="section return"><dt>Returns</dt><dd>Always returns false for the base <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> class </dd></dl>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00190">190</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="Stereo_8h_source.html">Stereo.h</a></li>
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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a></li>
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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