<ahref="#pub-methods">Public Member Functions</a>|
<ahref="#pub-static-methods">Static Public Member Functions</a>|
<ahref="#pro-methods">Protected Member Functions</a>|
<ahref="classrtabmap_1_1StereoDense-members.html">List of all members</a></div>
<divclass="headertitle"><divclass="title">rtabmap::StereoDense Class Reference<spanclass="mlabels"><spanclass="mlabel">abstract</span></span></div></div>
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<p>Abstract base class for dense stereo matching algorithms.
<trclass="memdesc:a54329152938c4ca1f259dcb8fa7d8803"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Enumeration of available stereo matching algorithm types. <ahref="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">More...</a><br/></td></tr>
<trclass="memdesc:ac2f693ca52897501450f2bda985c5cf5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Parse parameters from a parameters map. <br/></td></tr>
<trclass="memdesc:ad2a4e50429b17c2cb1938e9d922ba7ce"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Factory method to create a <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance from parameters. <br/></td></tr>
<trclass="memdesc:ae52002299f7e443a8e9cdc33effae37c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Factory method to create a <aclass="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>
<divclass="textblock"><p>Abstract base class for dense stereo matching algorithms. </p>
<p>This class provides the interface for dense stereo matching algorithms that compute disparity maps from stereo image pairs. It uses a factory pattern to create specific implementations (Block Matching or Semi-Global Block Matching).</p>
<p>The disparity map is a 16-bit signed integer image (CV_16SC1) where each pixel value represents the horizontal displacement between corresponding pixels in the left and right stereo images. Higher disparity values indicate closer objects.</p>
<dlclass="section note"><dt>Note</dt><dd>Both input images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale. </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="StereoDense_8h_source.html#l00053">53</a> of file <aclass="el"href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
<p>Enumeration of available stereo matching algorithm types. </p>
<tableclass="fieldtable">
<tr><thcolspan="2">Enumerator</th></tr><tr><tdclass="fieldname"><aid="a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1"name="a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1"></a>kTypeBM </td><tdclass="fielddoc"><p>Block Matching algorithm (faster, less accurate) </p>
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<tr><tdclass="fieldname"><aid="a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae"name="a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae"></a>kTypeSGBM </td><tdclass="fielddoc"><p>Semi-Global Block Matching algorithm (slower, more accurate) </p>
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<pclass="definition">Definition at line <aclass="el"href="StereoDense_8h_source.html#l00059">59</a> of file <aclass="el"href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<h2class="groupheader">Constructor & Destructor Documentation</h2>
<pclass="definition">Definition at line <aclass="el"href="StereoDense_8h_source.html#l00093">93</a> of file <aclass="el"href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
<tr><tdclass="paramname">parameters</td><td>Optional parameters map for initialization </td></tr>
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<pclass="definition">Definition at line <aclass="el"href="StereoDense_8h_source.html#l00129">129</a> of file <aclass="el"href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<h2class="groupheader">Member Function Documentation</h2>
<p>Factory method to create a <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance from parameters. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance based on the stereo dense strategy parameter in the provided parameters map. The strategy is determined by the <aclass="el"href="classrtabmap_1_1Parameters.html#a3d90e8ab6857becd7e2c3bf9e35ab261"title="Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).">Parameters::kStereoDenseStrategy()</a> parameter.</p>
<dlclass="section return"><dt>Returns</dt><dd>Pointer to the created <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance (caller owns the memory) </dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1StereoDense.html#ae52002299f7e443a8e9cdc33effae37c"title="Factory method to create a StereoDense instance of a specific type.">create(Type, const ParametersMap&)</a></dd></dl>
<p>Factory method to create a <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance of a specific type. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance of the specified type with the given parameters.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">type</td><td>The type of stereo matching algorithm to create </td></tr>
<dlclass="section return"><dt>Returns</dt><dd>Pointer to the created <aclass="el"href="classrtabmap_1_1StereoDense.html"title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance (caller owns the memory) </dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce"title="Factory method to create a StereoDense instance from parameters.">create(const ParametersMap&)</a></dd></dl>
<p>Updates the algorithm's configuration based on the provided parameters map. Derived classes should override this method to parse their specific parameters.</p>
<p>Reimplemented in <aclass="el"href="classrtabmap_1_1StereoBM.html#ab3960fcf495a6dcacfab58ed144b4cc7">rtabmap::StereoBM</a>, and <aclass="el"href="classrtabmap_1_1StereoSGBM.html#a73934f5953650089ac337316f3d3137c">rtabmap::StereoSGBM</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="StereoDense_8h_source.html#l00103">103</a> of file <aclass="el"href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
<p>Compute disparity map from stereo image pair. </p>
<p>Computes a disparity map from the given left and right stereo images. 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>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">leftImage</td><td>Left stereo image (CV_8UC1 or CV_8UC3) </td></tr>
<tr><tdclass="paramname">rightImage</td><td>Right stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage </td></tr>
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<dlclass="section return"><dt>Returns</dt><dd>Disparity map as a 16-bit signed integer image (CV_16SC1) </dd></dl>
<dlclass="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>
<dd>
Invalid disparities are typically represented by negative values or zero. </dd></dl>
<p>Implemented in <aclass="el"href="classrtabmap_1_1StereoBM.html#a94b6d71050cf4b784f87853175c57b00">rtabmap::StereoBM</a>, and <aclass="el"href="classrtabmap_1_1StereoSGBM.html#ac0677ba125a665fe723f20814bf724cc">rtabmap::StereoSGBM</a>.</p>
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