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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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< a href = "#pub-methods" > Public Member Functions</ a > |
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< div class = "headertitle" >< div class = "title" > rtabmap::StereoBM Class Reference</ div ></ div >
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< p > Block Matching algorithm for dense stereo matching.
< a href = "classrtabmap_1_1StereoBM.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "StereoBM_8h_source.html" > StereoBM.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for rtabmap::StereoBM:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1StereoBM__inherit__graph.png" border = "0" usemap = "#artabmap_1_1StereoBM_inherit__map" alt = "Inheritance graph" /></ div >
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< area shape = "rect" href = "classrtabmap_1_1StereoDense.html" title = "Abstract base class for dense stereo matching algorithms." alt = "" coords = "5,5,173,31" />
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Collaboration diagram for rtabmap::StereoBM:</ div >
< div class = "dyncontent" >
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< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a33ff25f4afacce93201f509b78e5ca6f" id = "r_a33ff25f4afacce93201f509b78e5ca6f" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html#a33ff25f4afacce93201f509b78e5ca6f" > StereoBM</ a > (int blockSize, int numDisparities)</ td ></ tr >
< tr class = "memdesc:a33ff25f4afacce93201f509b78e5ca6f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructor with explicit block size and number of disparities. < br /></ td ></ tr >
< tr class = "separator:a33ff25f4afacce93201f509b78e5ca6f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a74970c7517eec90828dd03510c3e3db0" id = "r_a74970c7517eec90828dd03510c3e3db0" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html#a74970c7517eec90828dd03510c3e3db0" > StereoBM</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a74970c7517eec90828dd03510c3e3db0" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructor with parameters map. < br /></ td ></ tr >
< tr class = "separator:a74970c7517eec90828dd03510c3e3db0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6d5e4ac8698669323dff297c01f7ee4b" id = "r_a6d5e4ac8698669323dff297c01f7ee4b" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html#a6d5e4ac8698669323dff297c01f7ee4b" > ~StereoBM</ a > ()</ td ></ tr >
< tr class = "memdesc:a6d5e4ac8698669323dff297c01f7ee4b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Virtual destructor. < br /></ td ></ tr >
< tr class = "separator:a6d5e4ac8698669323dff297c01f7ee4b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab3960fcf495a6dcacfab58ed144b4cc7" id = "r_ab3960fcf495a6dcacfab58ed144b4cc7" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html#ab3960fcf495a6dcacfab58ed144b4cc7" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:ab3960fcf495a6dcacfab58ed144b4cc7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parse parameters from a parameters map. < br /></ td ></ tr >
< tr class = "separator:ab3960fcf495a6dcacfab58ed144b4cc7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a94b6d71050cf4b784f87853175c57b00" id = "r_a94b6d71050cf4b784f87853175c57b00" >< td class = "memItemLeft" align = "right" valign = "top" > virtual cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html#a94b6d71050cf4b784f87853175c57b00" > computeDisparity</ a > (const cv::Mat & leftImage, const cv::Mat & rightImage) const</ td ></ tr >
< tr class = "memdesc:a94b6d71050cf4b784f87853175c57b00" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Compute disparity map from stereo image pair. < br /></ td ></ tr >
< tr class = "separator:a94b6d71050cf4b784f87853175c57b00" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1StereoDense" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1StereoDense')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1StereoDense.html" > rtabmap::StereoDense</ a ></ td ></ tr >
< tr class = "memitem:a5c720eb11114c19540d30886cb0ba1e6 inherit pub_methods_classrtabmap_1_1StereoDense" id = "r_a5c720eb11114c19540d30886cb0ba1e6" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html#a5c720eb11114c19540d30886cb0ba1e6" > ~StereoDense</ a > ()</ td ></ tr >
< tr class = "memdesc:a5c720eb11114c19540d30886cb0ba1e6 inherit pub_methods_classrtabmap_1_1StereoDense" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Virtual destructor. < br /></ td ></ tr >
< tr class = "separator:a5c720eb11114c19540d30886cb0ba1e6 inherit pub_methods_classrtabmap_1_1StereoDense" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classrtabmap_1_1StereoDense" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classrtabmap_1_1StereoDense')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classrtabmap_1_1StereoDense.html" > rtabmap::StereoDense</ a ></ td ></ tr >
< tr class = "memitem:a54329152938c4ca1f259dcb8fa7d8803 inherit pub_types_classrtabmap_1_1StereoDense" id = "r_a54329152938c4ca1f259dcb8fa7d8803" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803" > Type</ a > { < a class = "el" href = "classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1" > kTypeBM</ a > = 0
, < a class = "el" href = "classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae" > kTypeSGBM</ a > = 1
}</ td ></ tr >
< tr class = "memdesc:a54329152938c4ca1f259dcb8fa7d8803" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Enumeration of available stereo matching algorithm types. < a href = "classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:a54329152938c4ca1f259dcb8fa7d8803 inherit pub_types_classrtabmap_1_1StereoDense" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classrtabmap_1_1StereoDense" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classrtabmap_1_1StereoDense')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1StereoDense.html" > rtabmap::StereoDense</ a ></ td ></ tr >
< tr class = "memitem:ad2a4e50429b17c2cb1938e9d922ba7ce inherit pub_static_methods_classrtabmap_1_1StereoDense" id = "r_ad2a4e50429b17c2cb1938e9d922ba7ce" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1StereoDense.html" > StereoDense</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce" > create</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:ad2a4e50429b17c2cb1938e9d922ba7ce inherit pub_static_methods_classrtabmap_1_1StereoDense" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Factory method to create a < a class = "el" href = "classrtabmap_1_1StereoDense.html" title = "Abstract base class for dense stereo matching algorithms." > StereoDense</ a > instance from parameters. < br /></ td ></ tr >
< tr class = "separator:ad2a4e50429b17c2cb1938e9d922ba7ce inherit pub_static_methods_classrtabmap_1_1StereoDense" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae52002299f7e443a8e9cdc33effae37c inherit pub_static_methods_classrtabmap_1_1StereoDense" id = "r_ae52002299f7e443a8e9cdc33effae37c" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1StereoDense.html" > StereoDense</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html#ae52002299f7e443a8e9cdc33effae37c" > create</ a > (< a class = "el" href = "classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803" > StereoDense::Type</ a > type, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:ae52002299f7e443a8e9cdc33effae37c inherit pub_static_methods_classrtabmap_1_1StereoDense" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Factory method to create a < a class = "el" href = "classrtabmap_1_1StereoDense.html" title = "Abstract base class for dense stereo matching algorithms." > StereoDense</ a > instance of a specific type. < br /></ td ></ tr >
< tr class = "separator:ae52002299f7e443a8e9cdc33effae37c inherit pub_static_methods_classrtabmap_1_1StereoDense" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1StereoDense" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1StereoDense')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1StereoDense.html" > rtabmap::StereoDense</ a ></ td ></ tr >
< tr class = "memitem:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense" id = "r_a57f0c431678a2c9db1b5f7dd46cbf49f" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html#a57f0c431678a2c9db1b5f7dd46cbf49f" > StereoDense</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Protected constructor. < br /></ td ></ tr >
< tr class = "separator:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Block Matching algorithm for dense stereo matching. </ p >
< p > This class implements the Block Matching (BM) algorithm for computing disparity maps from stereo image pairs.</ p >
< dl class = "section note" >< dt > Note</ dt >< dd > This class wraps OpenCV's cv::StereoBM implementation. </ dd ></ dl >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1StereoSGBM.html" title = "Semi-Global Block Matching algorithm for dense stereo matching." > StereoSGBM</ a > for a more accurate but slower alternative </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "StereoBM_8h_source.html#l00047" > 47</ a > of file < a class = "el" href = "StereoBM_8h_source.html" > StereoBM.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a33ff25f4afacce93201f509b78e5ca6f" name = "a33ff25f4afacce93201f509b78e5ca6f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a33ff25f4afacce93201f509b78e5ca6f" > ◆  </ a ></ span > StereoBM() < span class = "overload" > [1/2]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > rtabmap::StereoBM::StereoBM </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > blockSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > numDisparities</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Constructor with explicit block size and number of disparities. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > blockSize</ td >< td > Size of the block window for matching (must be odd, typically 5-21) </ td ></ tr >
< tr >< td class = "paramname" > numDisparities</ td >< td > Number of disparity levels to search (must be divisible by 16) </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a74970c7517eec90828dd03510c3e3db0" name = "a74970c7517eec90828dd03510c3e3db0" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a74970c7517eec90828dd03510c3e3db0" > ◆  </ a ></ span > StereoBM() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > rtabmap::StereoBM::StereoBM </ td >
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< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< 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 with parameters map. </ p >
< p > Creates a < a class = "el" href = "classrtabmap_1_1StereoBM.html" title = "Block Matching algorithm for dense stereo matching." > StereoBM</ a > instance and initializes it from the provided parameters map.</ p >
< 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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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6d5e4ac8698669323dff297c01f7ee4b" > ◆  </ a ></ span > ~StereoBM()</ h2 >
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< td class = "memname" > virtual rtabmap::StereoBM::~StereoBM </ td >
< td > (</ td >
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< p > Virtual destructor. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "StereoBM_8h_source.html#l00069" > 69</ a > of file < a class = "el" href = "StereoBM_8h_source.html" > StereoBM.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 = "#ab3960fcf495a6dcacfab58ed144b4cc7" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::StereoBM::parseParameters </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em ></ td >< td > )</ td >
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< p > Parse parameters from a parameters map. </ p >
< p > Updates the algorithm's configuration based on the provided parameters map. Supported parameters:</ p >< ul >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#a19264fbd2a0f9441c10cc06ffe4023b8" title = "Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int )." > Parameters::kStereoBMBlockSize()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#a619cb0a6210079348902c069cc1c614a" title = "Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int )." > Parameters::kStereoBMMinDisparity()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#ae4d531d7472f534c00fb8b5aae5fc723" title = "Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int )." > Parameters::kStereoBMNumDisparities()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#a5c8d75ee0c4f9a4c8eb033e9e47f5fdc" title = "Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int )." > Parameters::kStereoBMPreFilterSize()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#abcf20058345e9e63f2a099348a27447c" title = "Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int )." > Parameters::kStereoBMPreFilterCap()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#aecd9a6f9ae9f1982a24ccfae3173d884" title = "Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int )." > Parameters::kStereoBMUniquenessRatio()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#a3b18299607c2d3e13b4193eab70981da" title = "Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int )." > Parameters::kStereoBMTextureThreshold()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#af47f8797f5a9b3827b9e4115ca7d3fd2" title = "Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int )." > Parameters::kStereoBMSpeckleWindowSize()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#a42ec227016e22c6b05c8f0a5f6bdc4e9" title = "Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int )." > Parameters::kStereoBMSpeckleRange()</ a ></ li >
< li >< a class = "el" href = "classrtabmap_1_1Parameters.html#adfa753955fde235a1368dd679b75ee56" title = "Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int )." > Parameters::kStereoBMDisp12MaxDiff()</ a ></ 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 from < a class = "el" href = "classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5" > rtabmap::StereoDense</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a94b6d71050cf4b784f87853175c57b00" > ◆  </ a ></ span > computeDisparity()</ h2 >
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< td class = "memname" > virtual cv::Mat rtabmap::StereoBM::computeDisparity </ td >
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< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > leftImage</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > rightImage</ em >   </ td >
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< td ></ td >< td > const</ td >
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< p > Compute disparity map from stereo image pair. </ p >
< p > Computes a disparity map using the Block Matching algorithm. The images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > leftImage</ td >< td > Left stereo image (CV_8UC1 or CV_8UC3) </ td ></ tr >
< tr >< td class = "paramname" > rightImage</ td >< td > Right stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage </ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Disparity map as a 16-bit signed integer image (CV_16SC1) </ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > The disparity values are stored as fixed-point numbers with 4 fractional bits. To get the actual disparity, divide by 16. </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4" > rtabmap::StereoDense</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/stereo/< a class = "el" href = "StereoBM_8h_source.html" > StereoBM.h</ a ></ li >
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