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2026-08-02 07:56:38 +00:00
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1083 changed files with 121946 additions and 11202 deletions
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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>
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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_1StereoOpticalFlow.html">StereoOpticalFlow</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::StereoOpticalFlow:</div>
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Collaboration diagram for rtabmap::StereoOpticalFlow:</div>
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@@ -107,17 +124,17 @@ Collaboration diagram for rtabmap::StereoOpticalFlow:</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:a85173879ab911862112710fa1c94d8c5" id="r_a85173879ab911862112710fa1c94d8c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5">StereoOpticalFlow</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a85173879ab911862112710fa1c94d8c5" id="r_a85173879ab911862112710fa1c94d8c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5">StereoOpticalFlow</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:a85173879ab911862112710fa1c94d8c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a85173879ab911862112710fa1c94d8c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa38ce6868f4bf0388559f81ff917a97" id="r_afa38ce6868f4bf0388559f81ff917a97"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97">~StereoOpticalFlow</a> ()</td></tr>
<tr class="memdesc:afa38ce6868f4bf0388559f81ff917a97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="memitem:aac2df770eba89ed2607c024c91d82c78" id="r_aac2df770eba89ed2607c024c91d82c78"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78">parseParameters</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memitem:aac2df770eba89ed2607c024c91d82c78" id="r_aac2df770eba89ed2607c024c91d82c78"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="memdesc:aac2df770eba89ed2607c024c91d82c78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
<tr class="separator:aac2df770eba89ed2607c024c91d82c78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a406bbf688782966ea55a44c49ac10cbe" id="r_a406bbf688782966ea55a44c49ac10cbe"><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Point2f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">computeCorrespondences</a> (const cv::Mat &amp;leftImage, const cv::Mat &amp;rightImage, const std::vector&lt; cv::Point2f &gt; &amp;leftCorners, std::vector&lt; unsigned char &gt; &amp;status) const</td></tr>
@@ -136,7 +153,7 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:aae7477edab52fd27d221de4f4e78e7bb" id="r_aae7477edab52fd27d221de4f4e78e7bb"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aae7477edab52fd27d221de4f4e78e7bb">errorThreshold</a> () const</td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1Stereo"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Stereo')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Stereo.html">rtabmap::Stereo</a></td></tr>
<tr class="memitem:a1031c68f4e66690da216718382af0ab3 inherit pub_methods_classrtabmap_1_1Stereo" id="r_a1031c68f4e66690da216718382af0ab3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3">Stereo</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a1031c68f4e66690da216718382af0ab3 inherit pub_methods_classrtabmap_1_1Stereo" id="r_a1031c68f4e66690da216718382af0ab3"><td class="memItemLeft" align="right" valign="top">&#160;</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> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a1031c68f4e66690da216718382af0ab3 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a1031c68f4e66690da216718382af0ab3 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca70a15916baf916d6d66c93dad6b3d5 inherit pub_methods_classrtabmap_1_1Stereo" id="r_aca70a15916baf916d6d66c93dad6b3d5"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5">~Stereo</a> ()</td></tr>
@@ -164,7 +181,7 @@ Public Member Functions</h2></td></tr>
<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_static_methods_classrtabmap_1_1Stereo"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Stereo')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Stereo.html">rtabmap::Stereo</a></td></tr>
<tr class="memitem:a2ce0c01fac282e0a8ffd862608fa2d96 inherit pub_static_methods_classrtabmap_1_1Stereo" id="r_a2ce0c01fac282e0a8ffd862608fa2d96"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96">create</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a2ce0c01fac282e0a8ffd862608fa2d96 inherit pub_static_methods_classrtabmap_1_1Stereo" id="r_a2ce0c01fac282e0a8ffd862608fa2d96"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a> *&#160;</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> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a2ce0c01fac282e0a8ffd862608fa2d96 inherit pub_static_methods_classrtabmap_1_1Stereo"><td class="mdescLeft">&#160;</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>
<tr class="separator:a2ce0c01fac282e0a8ffd862608fa2d96 inherit pub_static_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
@@ -188,8 +205,8 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. </d
<tr>
<td class="memname">rtabmap::StereoOpticalFlow::StereoOpticalFlow </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>
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@@ -248,7 +265,7 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. </d
<tr>
<td class="memname">virtual void rtabmap::StereoOpticalFlow::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>
@@ -262,8 +279,8 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. </d
<p>Parse parameters from a parameters map. </p>
<p>Updates the algorithm's configuration based on the provided parameters map. First calls the base class <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78" title="Parse parameters from a parameters map.">parseParameters()</a>, then parses optical flow-specific parameters:</p><ul>
<li>Parameters::kStereoEps() - Convergence threshold for optical flow</li>
<li>Parameters::kStereoGpu() - Enable GPU acceleration (requires OpenCV CUDA)</li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a5690d54cd1982ac7f2a9ad5865749080" title="Key of parameter Stereo/Eps : uFormat(&quot;[%s=true] Epsilon stop criterion.&quot;, kStereoOpticalFlow()....">Parameters::kStereoEps()</a> - Convergence threshold for optical flow</li>
<li><a class="el" href="classrtabmap_1_1Parameters.html#a4c428b3cf9ef87a8a1b7c229abe8f894" title="Key of parameter Stereo/Gpu : uFormat(&quot;[%s=true] Enable GPU version of the optical flow approach (onl...">Parameters::kStereoGpu()</a> - Enable GPU acceleration (requires OpenCV CUDA)</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
@@ -489,9 +506,13 @@ If GPU is enabled, the GPU version of this method is called automatically. </dd>
<li>corelib/include/rtabmap/core/<a class="el" href="Stereo_8h_source.html">Stereo.h</a></li>
</ul>
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