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2026-08-02 07:56:38 +00:00
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@@ -10,6 +10,10 @@
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<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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<ul>
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1StereoBM.html">StereoBM</a></li> </ul>
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<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::StereoBM:</div>
<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">
@@ -107,20 +124,20 @@ Collaboration diagram for rtabmap::StereoBM:</div>
<area shape="rect" href="classrtabmap_1_1StereoDense.html" title="Abstract base class for dense stereo matching algorithms." alt="" coords="5,5,173,31"/>
<area shape="poly" title=" " alt="" coords="92,44,92,79,87,79,87,44"/>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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<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">&#160;</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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a74970c7517eec90828dd03510c3e3db0" id="r_a74970c7517eec90828dd03510c3e3db0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoBM.html#a74970c7517eec90828dd03510c3e3db0">StereoBM</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a74970c7517eec90828dd03510c3e3db0" id="r_a74970c7517eec90828dd03510c3e3db0"><td class="memItemLeft" align="right" valign="top">&#160;</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> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a74970c7517eec90828dd03510c3e3db0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor with parameters map. <br /></td></tr>
<tr class="separator:a74970c7517eec90828dd03510c3e3db0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d5e4ac8698669323dff297c01f7ee4b" id="r_a6d5e4ac8698669323dff297c01f7ee4b"><td class="memItemLeft" align="right" valign="top">virtual&#160;</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">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="memitem:ab3960fcf495a6dcacfab58ed144b4cc7" id="r_ab3960fcf495a6dcacfab58ed144b4cc7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoBM.html#ab3960fcf495a6dcacfab58ed144b4cc7">parseParameters</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memitem:ab3960fcf495a6dcacfab58ed144b4cc7" id="r_ab3960fcf495a6dcacfab58ed144b4cc7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</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> &amp;parameters)</td></tr>
<tr class="memdesc:ab3960fcf495a6dcacfab58ed144b4cc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
<tr class="separator:ab3960fcf495a6dcacfab58ed144b4cc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94b6d71050cf4b784f87853175c57b00" id="r_a94b6d71050cf4b784f87853175c57b00"><td class="memItemLeft" align="right" valign="top">virtual cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoBM.html#a94b6d71050cf4b784f87853175c57b00">computeDisparity</a> (const cv::Mat &amp;leftImage, const cv::Mat &amp;rightImage) const</td></tr>
@@ -140,14 +157,14 @@ Additional Inherited Members</h2></td></tr>
<tr class="memdesc:a54329152938c4ca1f259dcb8fa7d8803"><td class="mdescLeft">&#160;</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">&#160;</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="-"/>&#160;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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce">create</a> (const ParametersMap &amp;parameters)</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> *&#160;</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> &amp;parameters)</td></tr>
<tr class="memdesc:ad2a4e50429b17c2cb1938e9d922ba7ce inherit pub_static_methods_classrtabmap_1_1StereoDense"><td class="mdescLeft">&#160;</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">&#160;</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> *&#160;</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 ParametersMap &amp;parameters=ParametersMap())</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> *&#160;</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> &amp;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">&#160;</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">&#160;</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="-"/>&#160;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">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#a57f0c431678a2c9db1b5f7dd46cbf49f">StereoDense</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense" id="r_a57f0c431678a2c9db1b5f7dd46cbf49f"><td class="memItemLeft" align="right" valign="top">&#160;</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> &amp;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">&#160;</td><td class="mdescRight">Protected constructor. <br /></td></tr>
<tr class="separator:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
@@ -205,8 +222,8 @@ Additional Inherited Members</h2></td></tr>
<tr>
<td class="memname">rtabmap::StereoBM::StereoBM </td>
<td>(</td>
<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code>ParametersMap()</code></td><td>)</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
<td></td>
</tr>
</table>
@@ -265,7 +282,7 @@ Additional Inherited Members</h2></td></tr>
<tr>
<td class="memname">virtual void rtabmap::StereoBM::parseParameters </td>
<td>(</td>
<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em></td><td>)</td>
<td></td>
</tr>
@@ -279,16 +296,16 @@ Additional Inherited Members</h2></td></tr>
<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>Parameters::kStereoBMBlockSize()</li>
<li>Parameters::kStereoBMMinDisparity()</li>
<li>Parameters::kStereoBMNumDisparities()</li>
<li>Parameters::kStereoBMPreFilterSize()</li>
<li>Parameters::kStereoBMPreFilterCap()</li>
<li>Parameters::kStereoBMUniquenessRatio()</li>
<li>Parameters::kStereoBMTextureThreshold()</li>
<li>Parameters::kStereoBMSpeckleWindowSize()</li>
<li>Parameters::kStereoBMSpeckleRange()</li>
<li>Parameters::kStereoBMDisp12MaxDiff()</li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a19264fbd2a0f9441c10cc06ffe4023b8" title="Key of parameter StereoBM/BlockSize : &quot;See cv::StereoBM&quot; Default value: 15 ( int ).">Parameters::kStereoBMBlockSize()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a619cb0a6210079348902c069cc1c614a" title="Key of parameter StereoBM/MinDisparity : &quot;See cv::StereoBM&quot; Default value: 0 ( int ).">Parameters::kStereoBMMinDisparity()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#ae4d531d7472f534c00fb8b5aae5fc723" title="Key of parameter StereoBM/NumDisparities : &quot;See cv::StereoBM&quot; Default value: 128 ( int ).">Parameters::kStereoBMNumDisparities()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a5c8d75ee0c4f9a4c8eb033e9e47f5fdc" title="Key of parameter StereoBM/PreFilterSize : &quot;See cv::StereoBM&quot; Default value: 9 ( int ).">Parameters::kStereoBMPreFilterSize()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#abcf20058345e9e63f2a099348a27447c" title="Key of parameter StereoBM/PreFilterCap : &quot;See cv::StereoBM&quot; Default value: 31 ( int ).">Parameters::kStereoBMPreFilterCap()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#aecd9a6f9ae9f1982a24ccfae3173d884" title="Key of parameter StereoBM/UniquenessRatio : &quot;See cv::StereoBM&quot; Default value: 15 ( int ).">Parameters::kStereoBMUniquenessRatio()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a3b18299607c2d3e13b4193eab70981da" title="Key of parameter StereoBM/TextureThreshold : &quot;See cv::StereoBM&quot; Default value: 10 ( int ).">Parameters::kStereoBMTextureThreshold()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#af47f8797f5a9b3827b9e4115ca7d3fd2" title="Key of parameter StereoBM/SpeckleWindowSize : &quot;See cv::StereoBM&quot; Default value: 100 ( int ).">Parameters::kStereoBMSpeckleWindowSize()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a42ec227016e22c6b05c8f0a5f6bdc4e9" title="Key of parameter StereoBM/SpeckleRange : &quot;See cv::StereoBM&quot; Default value: 4 ( int ).">Parameters::kStereoBMSpeckleRange()</a></li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#adfa753955fde235a1368dd679b75ee56" title="Key of parameter StereoBM/Disp12MaxDiff : &quot;See cv::StereoBM&quot; Default value: -1 ( int ).">Parameters::kStereoBMDisp12MaxDiff()</a></li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
@@ -355,9 +372,13 @@ Additional Inherited Members</h2></td></tr>
<li>corelib/include/rtabmap/core/stereo/<a class="el" href="StereoBM_8h_source.html">StereoBM.h</a></li>
</ul>
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