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<p>Abstract base class for dense stereo matching algorithms.
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<a href="classrtabmap_1_1StereoDense.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>></code></p>
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Inheritance diagram for rtabmap::StereoDense:</div>
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<table class="memberdecls">
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Public Types</h2></td></tr>
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<tr class="memitem:a54329152938c4ca1f259dcb8fa7d8803" id="r_a54329152938c4ca1f259dcb8fa7d8803"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">Type</a> { <a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1">kTypeBM</a> = 0
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, <a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae">kTypeSGBM</a> = 1
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}</td></tr>
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<tr class="memdesc:a54329152938c4ca1f259dcb8fa7d8803"><td class="mdescLeft"> </td><td class="mdescRight">Enumeration of available stereo matching algorithm types. <a href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">More...</a><br /></td></tr>
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<tr class="separator:a54329152938c4ca1f259dcb8fa7d8803"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a5c720eb11114c19540d30886cb0ba1e6" id="r_a5c720eb11114c19540d30886cb0ba1e6"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#a5c720eb11114c19540d30886cb0ba1e6">~StereoDense</a> ()</td></tr>
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<tr class="memdesc:a5c720eb11114c19540d30886cb0ba1e6"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="separator:a5c720eb11114c19540d30886cb0ba1e6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac2f693ca52897501450f2bda985c5cf5" id="r_ac2f693ca52897501450f2bda985c5cf5"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
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<tr class="memdesc:ac2f693ca52897501450f2bda985c5cf5"><td class="mdescLeft"> </td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
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<tr class="separator:ac2f693ca52897501450f2bda985c5cf5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac394d1dad3fa899f310e4c3eb3e428c4" id="r_ac394d1dad3fa899f310e4c3eb3e428c4"><td class="memItemLeft" align="right" valign="top">virtual cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4">computeDisparity</a> (const cv::Mat &leftImage, const cv::Mat &rightImage) const =0</td></tr>
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<tr class="memdesc:ac394d1dad3fa899f310e4c3eb3e428c4"><td class="mdescLeft"> </td><td class="mdescRight">Compute disparity map from stereo image pair. <br /></td></tr>
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<tr class="separator:ac394d1dad3fa899f310e4c3eb3e428c4"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:ad2a4e50429b17c2cb1938e9d922ba7ce" id="r_ad2a4e50429b17c2cb1938e9d922ba7ce"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * </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> &parameters)</td></tr>
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<tr class="memdesc:ad2a4e50429b17c2cb1938e9d922ba7ce"><td class="mdescLeft"> </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>
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<tr class="separator:ad2a4e50429b17c2cb1938e9d922ba7ce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae52002299f7e443a8e9cdc33effae37c" id="r_ae52002299f7e443a8e9cdc33effae37c"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * </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> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:ae52002299f7e443a8e9cdc33effae37c"><td class="mdescLeft"> </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>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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Protected Member Functions</h2></td></tr>
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<tr class="memitem:a57f0c431678a2c9db1b5f7dd46cbf49f" id="r_a57f0c431678a2c9db1b5f7dd46cbf49f"><td class="memItemLeft" align="right" valign="top"> </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> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:a57f0c431678a2c9db1b5f7dd46cbf49f"><td class="mdescLeft"> </td><td class="mdescRight">Protected constructor. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Abstract base class for dense stereo matching algorithms. </p>
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<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>
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<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>
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<dl class="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>
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<p class="definition">Definition at line <a class="el" href="StereoDense_8h_source.html#l00053">53</a> of file <a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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<a id="a54329152938c4ca1f259dcb8fa7d8803" name="a54329152938c4ca1f259dcb8fa7d8803"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a54329152938c4ca1f259dcb8fa7d8803">◆ </a></span>Type</h2>
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<td class="memname">enum <a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">rtabmap::StereoDense::Type</a></td>
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</div><div class="memdoc">
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<p>Enumeration of available stereo matching algorithm types. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1" name="a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1"></a>kTypeBM </td><td class="fielddoc"><p>Block Matching algorithm (faster, less accurate) </p>
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</td></tr>
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<tr><td class="fieldname"><a id="a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae" name="a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae"></a>kTypeSGBM </td><td class="fielddoc"><p>Semi-Global Block Matching algorithm (slower, more accurate) </p>
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<p class="definition">Definition at line <a class="el" href="StereoDense_8h_source.html#l00059">59</a> of file <a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a5c720eb11114c19540d30886cb0ba1e6" name="a5c720eb11114c19540d30886cb0ba1e6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5c720eb11114c19540d30886cb0ba1e6">◆ </a></span>~StereoDense()</h2>
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<td class="memname">virtual rtabmap::StereoDense::~StereoDense </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
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<p>Virtual destructor. </p>
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<p class="definition">Definition at line <a class="el" href="StereoDense_8h_source.html#l00093">93</a> of file <a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<a id="a57f0c431678a2c9db1b5f7dd46cbf49f" name="a57f0c431678a2c9db1b5f7dd46cbf49f"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a57f0c431678a2c9db1b5f7dd46cbf49f">◆ </a></span>StereoDense()</h2>
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<td class="memname">rtabmap::StereoDense::StereoDense </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span> </td>
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<p>Protected constructor. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">parameters</td><td>Optional parameters map for initialization </td></tr>
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<p class="definition">Definition at line <a class="el" href="StereoDense_8h_source.html#l00129">129</a> of file <a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad2a4e50429b17c2cb1938e9d922ba7ce">◆ </a></span>create() <span class="overload">[1/2]</span></h2>
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<td class="memname">static <a class="el" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * rtabmap::StereoDense::create </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
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<td class="paramname"><em>parameters</em></td><td>)</td>
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<p>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. </p>
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<p>Creates a <a class="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 <a class="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>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">parameters</td><td><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Pointer to the created <a class="el" href="classrtabmap_1_1StereoDense.html" title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance (caller owns the memory) </dd></dl>
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<dl class="section see"><dt>See also</dt><dd><a class="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>
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<h2 class="memtitle"><span class="permalink"><a href="#ae52002299f7e443a8e9cdc33effae37c">◆ </a></span>create() <span class="overload">[2/2]</span></h2>
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<td class="memname">static <a class="el" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * rtabmap::StereoDense::create </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">StereoDense::Type</a> </td>
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<td class="paramname"><em>type</em>, </td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code> </td>
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<td>)</td>
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<p>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. </p>
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<p>Creates a <a class="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>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">type</td><td>The type of stereo matching algorithm to create </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Pointer to the created <a class="el" href="classrtabmap_1_1StereoDense.html" title="Abstract base class for dense stereo matching algorithms.">StereoDense</a> instance (caller owns the memory) </dd></dl>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce" title="Factory method to create a StereoDense instance from parameters.">create(const ParametersMap&)</a> </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ac2f693ca52897501450f2bda985c5cf5">◆ </a></span>parseParameters()</h2>
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<td class="memname">virtual void rtabmap::StereoDense::parseParameters </td>
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<td>(</td>
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<p>Parse parameters from a parameters map. </p>
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<p>Updates the algorithm's configuration based on the provided parameters map. Derived classes should override this method to parse their specific parameters.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">parameters</td><td><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a> map containing configuration values </td></tr>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1StereoBM.html#ab3960fcf495a6dcacfab58ed144b4cc7">rtabmap::StereoBM</a>, and <a class="el" href="classrtabmap_1_1StereoSGBM.html#a73934f5953650089ac337316f3d3137c">rtabmap::StereoSGBM</a>.</p>
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<p class="definition">Definition at line <a class="el" href="StereoDense_8h_source.html#l00103">103</a> of file <a class="el" href="StereoDense_8h_source.html">StereoDense.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac394d1dad3fa899f310e4c3eb3e428c4">◆ </a></span>computeDisparity()</h2>
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<td class="memname">virtual cv::Mat rtabmap::StereoDense::computeDisparity </td>
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<p>Compute disparity map from stereo image pair. </p>
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<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>
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<tr><td class="paramname">leftImage</td><td>Left stereo image (CV_8UC1 or CV_8UC3) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Disparity map as a 16-bit signed integer image (CV_16SC1) </dd></dl>
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<dl class="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>
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<p>Implemented in <a class="el" href="classrtabmap_1_1StereoBM.html#a94b6d71050cf4b784f87853175c57b00">rtabmap::StereoBM</a>, and <a class="el" href="classrtabmap_1_1StereoSGBM.html#ac0677ba125a665fe723f20814bf724cc">rtabmap::StereoSGBM</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="StereoDense_8h_source.html">StereoDense.h</a></li>
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