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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">    * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">      notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">    * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">      notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">      documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">    * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">      names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment">      derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#ifndef STEREODENSE_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#define STEREODENSE_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
<div class="foldopen" id="foldopen00053" data-start="{" data-end="};">
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html">   53</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1StereoDense.html">StereoDense</a> {</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00059" data-start="{" data-end="};">
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">   59</a></span>  <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">Type</a> {</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803a393267c04896dd353dc66ade56c8d5f1">   60</a></span>    kTypeBM = 0,    </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    kTypeSGBM = 1  </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803abf3465f1ebb12576596dc4b605c1ffae">   62</a></span>  };</div>
</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce">   75</a></span>  <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#ae52002299f7e443a8e9cdc33effae37c">   87</a></span>  <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#ae52002299f7e443a8e9cdc33effae37c">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">StereoDense::Type</a> type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#a5c720eb11114c19540d30886cb0ba1e6">   93</a></span>  <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#a5c720eb11114c19540d30886cb0ba1e6">~StereoDense</a>() {}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5">  103</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) {}</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>  </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4">  119</a></span>  <span class="keyword">virtual</span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4">computeDisparity</a>(</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>      <span class="keyword">const</span> cv::Mat &amp; leftImage,</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>      <span class="keyword">const</span> cv::Mat &amp; rightImage) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoDense.html#a57f0c431678a2c9db1b5f7dd46cbf49f">  129</a></span>  <a class="code hl_function" href="classrtabmap_1_1StereoDense.html#a57f0c431678a2c9db1b5f7dd46cbf49f">StereoDense</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap()) {}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>};</div>
</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="preprocessor">#endif </span><span class="comment">/* STEREODENSE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></div><div class="ttdoc">Abstract base class for dense stereo matching algorithms.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00053">StereoDense.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_a54329152938c4ca1f259dcb8fa7d8803"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#a54329152938c4ca1f259dcb8fa7d8803">rtabmap::StereoDense::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Enumeration of available stereo matching algorithm types.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00059">StereoDense.h:59</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_a57f0c431678a2c9db1b5f7dd46cbf49f"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#a57f0c431678a2c9db1b5f7dd46cbf49f">rtabmap::StereoDense::StereoDense</a></div><div class="ttdeci">StereoDense(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Protected constructor.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00129">StereoDense.h:129</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_a5c720eb11114c19540d30886cb0ba1e6"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#a5c720eb11114c19540d30886cb0ba1e6">rtabmap::StereoDense::~StereoDense</a></div><div class="ttdeci">virtual ~StereoDense()</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00093">StereoDense.h:93</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_ac2f693ca52897501450f2bda985c5cf5"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5">rtabmap::StereoDense::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Parse parameters from a parameters map.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00103">StereoDense.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_ac394d1dad3fa899f310e4c3eb3e428c4"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4">rtabmap::StereoDense::computeDisparity</a></div><div class="ttdeci">virtual cv::Mat computeDisparity(const cv::Mat &amp;leftImage, const cv::Mat &amp;rightImage) const =0</div><div class="ttdoc">Compute disparity map from stereo image pair.</div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_ad2a4e50429b17c2cb1938e9d922ba7ce"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#ad2a4e50429b17c2cb1938e9d922ba7ce">rtabmap::StereoDense::create</a></div><div class="ttdeci">static StereoDense * create(const ParametersMap &amp;parameters)</div><div class="ttdoc">Factory method to create a StereoDense instance from parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html_ae52002299f7e443a8e9cdc33effae37c"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html#ae52002299f7e443a8e9cdc33effae37c">rtabmap::StereoDense::create</a></div><div class="ttdeci">static StereoDense * create(StereoDense::Type type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Factory method to create a StereoDense instance of a specific type.</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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