mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
523 lines
34 KiB
HTML
523 lines
34 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: rtabmap::StereoOpticalFlow Class Reference</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('classrtabmap_1_1StereoOpticalFlow.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="summary">
|
|
<a href="#pub-methods">Public Member Functions</a> |
|
|
<a href="classrtabmap_1_1StereoOpticalFlow-members.html">List of all members</a> </div>
|
|
<div class="headertitle"><div class="title">rtabmap::StereoOpticalFlow Class Reference</div></div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
|
|
<p>Sparse stereo matching using optical flow.
|
|
<a href="classrtabmap_1_1StereoOpticalFlow.html#details">More...</a></p>
|
|
|
|
<p><code>#include <<a class="el" href="Stereo_8h_source.html">Stereo.h</a>></code></p>
|
|
<div class="dynheader">
|
|
Inheritance diagram for rtabmap::StereoOpticalFlow:</div>
|
|
<div class="dyncontent">
|
|
<div class="center"><img src="classrtabmap_1_1StereoOpticalFlow__inherit__graph.png" border="0" usemap="#artabmap_1_1StereoOpticalFlow_inherit__map" alt="Inheritance graph"/></div>
|
|
<map name="artabmap_1_1StereoOpticalFlow_inherit__map" id="artabmap_1_1StereoOpticalFlow_inherit__map">
|
|
<area shape="rect" title="Sparse stereo matching using optical flow." alt="" coords="5,79,209,104"/>
|
|
<area shape="rect" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching." alt="" coords="44,5,171,31"/>
|
|
<area shape="poly" title=" " alt="" coords="110,44,110,79,105,79,105,44"/>
|
|
</map>
|
|
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
|
|
<div class="dynheader">
|
|
Collaboration diagram for rtabmap::StereoOpticalFlow:</div>
|
|
<div class="dyncontent">
|
|
<div class="center"><img src="classrtabmap_1_1StereoOpticalFlow__coll__graph.png" border="0" usemap="#artabmap_1_1StereoOpticalFlow_coll__map" alt="Collaboration graph"/></div>
|
|
<map name="artabmap_1_1StereoOpticalFlow_coll__map" id="artabmap_1_1StereoOpticalFlow_coll__map">
|
|
<area shape="rect" title="Sparse stereo matching using optical flow." alt="" coords="5,79,209,104"/>
|
|
<area shape="rect" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching." alt="" coords="44,5,171,31"/>
|
|
<area shape="poly" title=" " alt="" coords="110,44,110,79,105,79,105,44"/>
|
|
</map>
|
|
<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:a85173879ab911862112710fa1c94d8c5" id="r_a85173879ab911862112710fa1c94d8c5"><td class="memItemLeft" align="right" valign="top"> </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> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
|
<tr class="memdesc:a85173879ab911862112710fa1c94d8c5"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br /></td></tr>
|
|
<tr class="separator:a85173879ab911862112710fa1c94d8c5"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:afa38ce6868f4bf0388559f81ff917a97" id="r_afa38ce6868f4bf0388559f81ff917a97"><td class="memItemLeft" align="right" valign="top">virtual </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"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
|
|
<tr class="separator:afa38ce6868f4bf0388559f81ff917a97"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aac2df770eba89ed2607c024c91d82c78" id="r_aac2df770eba89ed2607c024c91d82c78"><td class="memItemLeft" align="right" valign="top">virtual void </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> &parameters)</td></tr>
|
|
<tr class="memdesc:aac2df770eba89ed2607c024c91d82c78"><td class="mdescLeft"> </td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
|
|
<tr class="separator:aac2df770eba89ed2607c024c91d82c78"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a406bbf688782966ea55a44c49ac10cbe" id="r_a406bbf688782966ea55a44c49ac10cbe"><td class="memItemLeft" align="right" valign="top">virtual std::vector< cv::Point2f > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">computeCorrespondences</a> (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const</td></tr>
|
|
<tr class="memdesc:a406bbf688782966ea55a44c49ac10cbe"><td class="mdescLeft"> </td><td class="mdescRight">Compute stereo correspondences using optical flow. <br /></td></tr>
|
|
<tr class="separator:a406bbf688782966ea55a44c49ac10cbe"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ae53f537e0e9ebf121ff8a8b3bdc410a8" id="r_ae53f537e0e9ebf121ff8a8b3bdc410a8"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8">epsilon</a> () const</td></tr>
|
|
<tr class="memdesc:ae53f537e0e9ebf121ff8a8b3bdc410a8"><td class="mdescLeft"> </td><td class="mdescRight">Get the convergence threshold (epsilon) <br /></td></tr>
|
|
<tr class="separator:ae53f537e0e9ebf121ff8a8b3bdc410a8"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:abc4c02bc672566fc2dd3f7331b84944e" id="r_abc4c02bc672566fc2dd3f7331b84944e"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">isGpuEnabled</a> () const</td></tr>
|
|
<tr class="memdesc:abc4c02bc672566fc2dd3f7331b84944e"><td class="mdescLeft"> </td><td class="mdescRight">Check if GPU acceleration is enabled. <br /></td></tr>
|
|
<tr class="separator:abc4c02bc672566fc2dd3f7331b84944e"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a3f3d0b8442e90ce4604c8bf9614fca7b" id="r_a3f3d0b8442e90ce4604c8bf9614fca7b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a3f3d0b8442e90ce4604c8bf9614fca7b">usingMinEigenVals</a> () const</td></tr>
|
|
<tr class="separator:a3f3d0b8442e90ce4604c8bf9614fca7b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a50e2749904d2e05d87c75d0be3494b55" id="r_a50e2749904d2e05d87c75d0be3494b55"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#a50e2749904d2e05d87c75d0be3494b55">minEigThreshold</a> () const</td></tr>
|
|
<tr class="separator:a50e2749904d2e05d87c75d0be3494b55"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aae7477edab52fd27d221de4f4e78e7bb" id="r_aae7477edab52fd27d221de4f4e78e7bb"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#aae7477edab52fd27d221de4f4e78e7bb">errorThreshold</a> () const</td></tr>
|
|
<tr class="separator:aae7477edab52fd27d221de4f4e78e7bb"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<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="-"/> 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"> </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> &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"> </td><td class="mdescRight">Constructor. <br /></td></tr>
|
|
<tr class="separator:a1031c68f4e66690da216718382af0ab3 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aca70a15916baf916d6d66c93dad6b3d5 inherit pub_methods_classrtabmap_1_1Stereo" id="r_aca70a15916baf916d6d66c93dad6b3d5"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5">~Stereo</a> ()</td></tr>
|
|
<tr class="memdesc:aca70a15916baf916d6d66c93dad6b3d5 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
|
|
<tr class="separator:aca70a15916baf916d6d66c93dad6b3d5 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a5474ebbc178bcc29ebaff3d9d4e22e54 inherit pub_methods_classrtabmap_1_1Stereo" id="r_a5474ebbc178bcc29ebaff3d9d4e22e54"><td class="memItemLeft" align="right" valign="top">cv::Size </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54">winSize</a> () const</td></tr>
|
|
<tr class="memdesc:a5474ebbc178bcc29ebaff3d9d4e22e54 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Get the search window size. <br /></td></tr>
|
|
<tr class="separator:a5474ebbc178bcc29ebaff3d9d4e22e54 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:abde66966de114cd5649fd22602d27816 inherit pub_methods_classrtabmap_1_1Stereo" id="r_abde66966de114cd5649fd22602d27816"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816">iterations</a> () const</td></tr>
|
|
<tr class="memdesc:abde66966de114cd5649fd22602d27816 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Get the number of iterations. <br /></td></tr>
|
|
<tr class="separator:abde66966de114cd5649fd22602d27816 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a3834923d75c9453e885bea01cb5ecfa5 inherit pub_methods_classrtabmap_1_1Stereo" id="r_a3834923d75c9453e885bea01cb5ecfa5"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5">maxLevel</a> () const</td></tr>
|
|
<tr class="memdesc:a3834923d75c9453e885bea01cb5ecfa5 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum pyramid level. <br /></td></tr>
|
|
<tr class="separator:a3834923d75c9453e885bea01cb5ecfa5 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aaeec1e0e5470b1b1268b4e04bff81742 inherit pub_methods_classrtabmap_1_1Stereo" id="r_aaeec1e0e5470b1b1268b4e04bff81742"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">minDisparity</a> () const</td></tr>
|
|
<tr class="memdesc:aaeec1e0e5470b1b1268b4e04bff81742 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Get the minimum disparity value. <br /></td></tr>
|
|
<tr class="separator:aaeec1e0e5470b1b1268b4e04bff81742 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a83319186c8c434ad0482d2eb911ecd31 inherit pub_methods_classrtabmap_1_1Stereo" id="r_a83319186c8c434ad0482d2eb911ecd31"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31">maxDisparity</a> () const</td></tr>
|
|
<tr class="memdesc:a83319186c8c434ad0482d2eb911ecd31 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum disparity value. <br /></td></tr>
|
|
<tr class="separator:a83319186c8c434ad0482d2eb911ecd31 inherit pub_methods_classrtabmap_1_1Stereo"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aed372a471e6d3ea72713e239709da978 inherit pub_methods_classrtabmap_1_1Stereo" id="r_aed372a471e6d3ea72713e239709da978"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978">winSSD</a> () const</td></tr>
|
|
<tr class="memdesc:aed372a471e6d3ea72713e239709da978 inherit pub_methods_classrtabmap_1_1Stereo"><td class="mdescLeft"> </td><td class="mdescRight">Check if SSD (Sum of Squared Differences) is used. <br /></td></tr>
|
|
<tr class="separator:aed372a471e6d3ea72713e239709da978 inherit pub_methods_classrtabmap_1_1Stereo"><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_static_methods_classrtabmap_1_1Stereo"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Stereo')"><img src="closed.png" alt="-"/> 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> * </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> &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"> </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"> </td></tr>
|
|
</table>
|
|
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
|
<div class="textblock"><p>Sparse stereo matching using optical flow. </p>
|
|
<p>This class implements sparse stereo matching using optical flow (Lucas-Kanade) to find corresponding feature points between stereo image pairs. It extends the base <a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> class with optical flow-based matching, which can be more robust than simple block matching, especially for textured regions.</p>
|
|
<p>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.</p>
|
|
<dl class="section note"><dt>Note</dt><dd>Input images must be grayscale (CV_8UC1). </dd>
|
|
<dd>
|
|
GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. </dd></dl>
|
|
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> for block matching-based implementation </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00219">219</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
|
|
<a id="a85173879ab911862112710fa1c94d8c5" name="a85173879ab911862112710fa1c94d8c5"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a85173879ab911862112710fa1c94d8c5">◆ </a></span>StereoOpticalFlow()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">rtabmap::StereoOpticalFlow::StereoOpticalFlow </td>
|
|
<td>(</td>
|
|
<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>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Constructor. </p>
|
|
<p>Initializes a <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html" title="Sparse stereo matching using optical flow.">StereoOpticalFlow</a> instance with default parameter values and then parses the provided parameters map to override defaults.</p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">parameters</td><td>Optional parameters map containing configuration values. If empty, default values are used. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="afa38ce6868f4bf0388559f81ff917a97" name="afa38ce6868f4bf0388559f81ff917a97"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#afa38ce6868f4bf0388559f81ff917a97">◆ </a></span>~StereoOpticalFlow()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual rtabmap::StereoOpticalFlow::~StereoOpticalFlow </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Virtual destructor. </p>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00235">235</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<h2 class="groupheader">Member Function Documentation</h2>
|
|
<a id="aac2df770eba89ed2607c024c91d82c78" name="aac2df770eba89ed2607c024c91d82c78"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aac2df770eba89ed2607c024c91d82c78">◆ </a></span>parseParameters()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual void rtabmap::StereoOpticalFlow::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>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<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><a class="el" href="classrtabmap_1_1Parameters.html#a5690d54cd1982ac7f2a9ad5865749080" title="Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", 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("[%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">
|
|
<tr><td class="paramname">parameters</td><td><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
<dl class="section note"><dt>Note</dt><dd>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. </dd></dl>
|
|
|
|
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b">rtabmap::Stereo</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a406bbf688782966ea55a44c49ac10cbe" name="a406bbf688782966ea55a44c49ac10cbe"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a406bbf688782966ea55a44c49ac10cbe">◆ </a></span>computeCorrespondences()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual std::vector< cv::Point2f > rtabmap::StereoOpticalFlow::computeCorrespondences </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const cv::Mat & </td>
|
|
<td class="paramname"><em>leftImage</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const cv::Mat & </td>
|
|
<td class="paramname"><em>rightImage</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const std::vector< cv::Point2f > & </td>
|
|
<td class="paramname"><em>leftCorners</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">std::vector< unsigned char > & </td>
|
|
<td class="paramname"><em>status</em> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Compute stereo correspondences using optical flow. </p>
|
|
<p>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).</p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">leftImage</td><td>Left stereo image (must be CV_8UC1 grayscale) </td></tr>
|
|
<tr><td class="paramname">rightImage</td><td>Right stereo image (must be CV_8UC1 grayscale) </td></tr>
|
|
<tr><td class="paramname">leftCorners</td><td>Input vector of feature points in the left image </td></tr>
|
|
<tr><td class="paramname">status</td><td>Output vector indicating which correspondences are valid (1) or invalid (0). The size matches leftCorners.size(). </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
<dl class="section return"><dt>Returns</dt><dd>Vector of corresponding points in the right image. The size matches leftCorners.size(). Invalid correspondences may have coordinates outside the image bounds. </dd></dl>
|
|
<dl class="section note"><dt>Note</dt><dd>Both input images must be grayscale (CV_8UC1). </dd>
|
|
<dd>
|
|
If GPU is enabled, the GPU version of this method is called automatically. </dd></dl>
|
|
|
|
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382">rtabmap::Stereo</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="ae53f537e0e9ebf121ff8a8b3bdc410a8" name="ae53f537e0e9ebf121ff8a8b3bdc410a8"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ae53f537e0e9ebf121ff8a8b3bdc410a8">◆ </a></span>epsilon()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">float rtabmap::StereoOpticalFlow::epsilon </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Get the convergence threshold (epsilon) </p>
|
|
<dl class="section return"><dt>Returns</dt><dd>Convergence threshold for optical flow iteration termination </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00302">302</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="abc4c02bc672566fc2dd3f7331b84944e" name="abc4c02bc672566fc2dd3f7331b84944e"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#abc4c02bc672566fc2dd3f7331b84944e">◆ </a></span>isGpuEnabled()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual bool rtabmap::StereoOpticalFlow::isGpuEnabled </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Check if GPU acceleration is enabled. </p>
|
|
<p>Returns whether GPU acceleration is currently enabled for optical flow computation. GPU acceleration requires OpenCV CUDA support to be compiled in.</p>
|
|
<dl class="section return"><dt>Returns</dt><dd>true if GPU is enabled and available, false otherwise </dd></dl>
|
|
|
|
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a3f3d0b8442e90ce4604c8bf9614fca7b" name="a3f3d0b8442e90ce4604c8bf9614fca7b"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a3f3d0b8442e90ce4604c8bf9614fca7b">◆ </a></span>usingMinEigenVals()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool rtabmap::StereoOpticalFlow::usingMinEigenVals </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00314">314</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a50e2749904d2e05d87c75d0be3494b55" name="a50e2749904d2e05d87c75d0be3494b55"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a50e2749904d2e05d87c75d0be3494b55">◆ </a></span>minEigThreshold()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">float rtabmap::StereoOpticalFlow::minEigThreshold </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00315">315</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="aae7477edab52fd27d221de4f4e78e7bb" name="aae7477edab52fd27d221de4f4e78e7bb"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aae7477edab52fd27d221de4f4e78e7bb">◆ </a></span>errorThreshold()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">float rtabmap::StereoOpticalFlow::errorThreshold </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Stereo_8h_source.html#l00316">316</a> of file <a class="el" href="Stereo_8h_source.html">Stereo.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<hr/>The documentation for this class was generated from the following file:<ul>
|
|
<li>corelib/include/rtabmap/core/<a class="el" href="Stereo_8h_source.html">Stereo.h</a></li>
|
|
</ul>
|
|
</div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<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>
|
|
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|