rtabmap::StereoOpticalFlow Class Reference

Sparse stereo matching using optical flow. More...

#include <Stereo.h>

Inheritance diagram for rtabmap::StereoOpticalFlow:

Collaboration diagram for rtabmap::StereoOpticalFlow:

Public Member Functions
	StereoOpticalFlow (const ParametersMap &parameters=ParametersMap())
	Constructor.
virtual	~StereoOpticalFlow ()
	Virtual destructor.
virtual void	parseParameters (const ParametersMap &parameters)
	Parse parameters from a parameters map.
virtual std::vector< cv::Point2f >	computeCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
	Compute stereo correspondences using optical flow.
float	epsilon () const
	Get the convergence threshold (epsilon)
virtual bool	isGpuEnabled () const
	Check if GPU acceleration is enabled.
bool	usingMinEigenVals () const
float	minEigThreshold () const
float	errorThreshold () const
Public Member Functions inherited from rtabmap::Stereo
	Stereo (const ParametersMap &parameters=ParametersMap())
	Constructor.
virtual	~Stereo ()
	Virtual destructor.
cv::Size	winSize () const
	Get the search window size.
int	iterations () const
	Get the number of iterations.
int	maxLevel () const
	Get the maximum pyramid level.
float	minDisparity () const
	Get the minimum disparity value.
float	maxDisparity () const
	Get the maximum disparity value.
bool	winSSD () const
	Check if SSD (Sum of Squared Differences) is used.

Additional Inherited Members
Static Public Member Functions inherited from rtabmap::Stereo
static Stereo *	create (const ParametersMap &parameters=ParametersMap())
	Factory method to create a Stereo instance.

Detailed Description

Sparse stereo matching using optical flow.

This class implements sparse stereo matching using optical flow (Lucas-Kanade) to find corresponding feature points between stereo image pairs. It extends the base Stereo class with optical flow-based matching, which can be more robust than simple block matching, especially for textured regions.

The algorithm uses pyramidal Lucas-Kanade optical flow to track feature points from the left image to the right image, then filters the results based on disparity constraints.

Note

Input images must be grayscale (CV_8UC1).

GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support.

See also

Stereo for block matching-based implementation

Definition at line 219 of file Stereo.h.

Constructor & Destructor Documentation

StereoOpticalFlow()

rtabmap::StereoOpticalFlow::StereoOpticalFlow

(

const ParametersMap &

parameters = ParametersMap()

)

Constructor.

Initializes a StereoOpticalFlow instance with default parameter values and then parses the provided parameters map to override defaults.

Parameters

parameters

Optional parameters map containing configuration values. If empty, default values are used.

~StereoOpticalFlow()

virtual rtabmap::StereoOpticalFlow::~StereoOpticalFlow ( )

inlinevirtual

Virtual destructor.

Definition at line 235 of file Stereo.h.

Member Function Documentation

parseParameters()

virtual void rtabmap::StereoOpticalFlow::parseParameters ( const ParametersMap &  parameters )

virtual

Parse parameters from a parameters map.

Updates the algorithm's configuration based on the provided parameters map. First calls the base class parseParameters(), then parses optical flow-specific parameters:

• Parameters::kStereoEps() - Convergence threshold for optical flow
• Parameters::kStereoGpu() - Enable GPU acceleration (requires OpenCV CUDA)

Parameters

parameters

Parameters map containing configuration values

Note

If GPU is enabled but RTAB-Map is not built with OpenCV CUDA support, GPU will be automatically disabled and an error message will be logged.

Reimplemented from rtabmap::Stereo.

computeCorrespondences()

virtual std::vector< cv::Point2f > rtabmap::StereoOpticalFlow::computeCorrespondences ( const cv::Mat &  leftImage, const cv::Mat &  rightImage, const std::vector< cv::Point2f > &  leftCorners, std::vector< unsigned char > &  status  ) const

virtual

Compute stereo correspondences using optical flow.

Finds corresponding points in the right stereo image for the given points in the left stereo image using pyramidal Lucas-Kanade optical flow. The results are filtered based on disparity constraints (minDisparity to maxDisparity).

Parameters

leftImage	Left stereo image (must be CV_8UC1 grayscale)
rightImage	Right stereo image (must be CV_8UC1 grayscale)
leftCorners	Input vector of feature points in the left image
status	Output vector indicating which correspondences are valid (1) or invalid (0). The size matches leftCorners.size().

Returns

Vector of corresponding points in the right image. The size matches leftCorners.size(). Invalid correspondences may have coordinates outside the image bounds.

Note

Both input images must be grayscale (CV_8UC1).

If GPU is enabled, the GPU version of this method is called automatically.

Reimplemented from rtabmap::Stereo.

epsilon()

float rtabmap::StereoOpticalFlow::epsilon ( ) const

inline

Get the convergence threshold (epsilon)

Returns

Convergence threshold for optical flow iteration termination

Definition at line 302 of file Stereo.h.

isGpuEnabled()

virtual bool rtabmap::StereoOpticalFlow::isGpuEnabled ( ) const

virtual

Check if GPU acceleration is enabled.

Returns whether GPU acceleration is currently enabled for optical flow computation. GPU acceleration requires OpenCV CUDA support to be compiled in.

Returns

true if GPU is enabled and available, false otherwise

Reimplemented from rtabmap::Stereo.

usingMinEigenVals()

bool rtabmap::StereoOpticalFlow::usingMinEigenVals ( ) const

inline

Definition at line 314 of file Stereo.h.

minEigThreshold()

float rtabmap::StereoOpticalFlow::minEigThreshold ( ) const

inline

Definition at line 315 of file Stereo.h.

errorThreshold()

float rtabmap::StereoOpticalFlow::errorThreshold ( ) const

inline

Definition at line 316 of file Stereo.h.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/Stereo.h