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<p>Semi-Global Block Matching algorithm for dense stereo matching.
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<a href="classrtabmap_1_1StereoSGBM.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="StereoSGBM_8h_source.html">StereoSGBM.h</a>></code></p>
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Inheritance diagram for rtabmap::StereoSGBM:</div>
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<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:ab7f04d815235b6ab8178e8572602dcd1" id="r_ab7f04d815235b6ab8178e8572602dcd1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoSGBM.html#ab7f04d815235b6ab8178e8572602dcd1">StereoSGBM</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:ab7f04d815235b6ab8178e8572602dcd1"><td class="mdescLeft"> </td><td class="mdescRight">Constructor with parameters map. <br /></td></tr>
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<tr class="separator:ab7f04d815235b6ab8178e8572602dcd1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1568e99913769d8442c6013a7adc8796" id="r_a1568e99913769d8442c6013a7adc8796"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoSGBM.html#a1568e99913769d8442c6013a7adc8796">~StereoSGBM</a> ()</td></tr>
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<tr class="memdesc:a1568e99913769d8442c6013a7adc8796"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="separator:a1568e99913769d8442c6013a7adc8796"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a73934f5953650089ac337316f3d3137c" id="r_a73934f5953650089ac337316f3d3137c"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoSGBM.html#a73934f5953650089ac337316f3d3137c">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
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<tr class="memdesc:a73934f5953650089ac337316f3d3137c"><td class="mdescLeft"> </td><td class="mdescRight">Parse parameters from a parameters map. <br /></td></tr>
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<tr class="separator:a73934f5953650089ac337316f3d3137c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac0677ba125a665fe723f20814bf724cc" id="r_ac0677ba125a665fe723f20814bf724cc"><td class="memItemLeft" align="right" valign="top">virtual cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoSGBM.html#ac0677ba125a665fe723f20814bf724cc">computeDisparity</a> (const cv::Mat &leftImage, const cv::Mat &rightImage) const</td></tr>
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<tr class="memdesc:ac0677ba125a665fe723f20814bf724cc"><td class="mdescLeft"> </td><td class="mdescRight">Compute disparity map from stereo image pair. <br /></td></tr>
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<tr class="separator:ac0677ba125a665fe723f20814bf724cc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1StereoDense"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1StereoDense')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></td></tr>
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<tr class="memitem:a5c720eb11114c19540d30886cb0ba1e6 inherit pub_methods_classrtabmap_1_1StereoDense" 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 inherit pub_methods_classrtabmap_1_1StereoDense"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="separator:a5c720eb11114c19540d30886cb0ba1e6 inherit pub_methods_classrtabmap_1_1StereoDense"><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="inherited" name="inherited"></a>
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Additional Inherited Members</h2></td></tr>
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<tr class="inherit_header pub_types_classrtabmap_1_1StereoDense"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classrtabmap_1_1StereoDense')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></td></tr>
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<tr class="memitem:a54329152938c4ca1f259dcb8fa7d8803 inherit pub_types_classrtabmap_1_1StereoDense" 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 inherit pub_types_classrtabmap_1_1StereoDense"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classrtabmap_1_1StereoDense"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1StereoDense')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></td></tr>
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<tr class="memitem:ad2a4e50429b17c2cb1938e9d922ba7ce inherit pub_static_methods_classrtabmap_1_1StereoDense" 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 inherit pub_static_methods_classrtabmap_1_1StereoDense"><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 inherit pub_static_methods_classrtabmap_1_1StereoDense"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae52002299f7e443a8e9cdc33effae37c inherit pub_static_methods_classrtabmap_1_1StereoDense" 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 inherit pub_static_methods_classrtabmap_1_1StereoDense"><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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<tr class="separator:ae52002299f7e443a8e9cdc33effae37c inherit pub_static_methods_classrtabmap_1_1StereoDense"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_methods_classrtabmap_1_1StereoDense"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1StereoDense')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></td></tr>
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<tr class="memitem:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense" 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 inherit pro_methods_classrtabmap_1_1StereoDense"><td class="mdescLeft"> </td><td class="mdescRight">Protected constructor. <br /></td></tr>
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<tr class="separator:a57f0c431678a2c9db1b5f7dd46cbf49f inherit pro_methods_classrtabmap_1_1StereoDense"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Semi-Global Block Matching algorithm for dense stereo matching. </p>
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<p>This class implements the Semi-Global Block Matching (SGBM) algorithm for computing disparity maps from stereo image pairs.</p>
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<p>SGBM generally produces more accurate results than Block Matching, especially in textureless regions and areas with repetitive patterns, but is computationally more expensive.</p>
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<dl class="section note"><dt>Note</dt><dd>This class wraps OpenCV's cv::StereoSGBM implementation. </dd></dl>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1StereoBM.html" title="Block Matching algorithm for dense stereo matching.">StereoBM</a> for a faster but less accurate alternative </dd></dl>
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<p class="definition">Definition at line <a class="el" href="StereoSGBM_8h_source.html#l00051">51</a> of file <a class="el" href="StereoSGBM_8h_source.html">StereoSGBM.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="ab7f04d815235b6ab8178e8572602dcd1" name="ab7f04d815235b6ab8178e8572602dcd1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab7f04d815235b6ab8178e8572602dcd1">◆ </a></span>StereoSGBM()</h2>
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<td class="memname">rtabmap::StereoSGBM::StereoSGBM </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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<td></td>
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</div><div class="memdoc">
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<p>Constructor with parameters map. </p>
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<p>Creates a <a class="el" href="classrtabmap_1_1StereoSGBM.html" title="Semi-Global Block Matching algorithm for dense stereo matching.">StereoSGBM</a> instance and initializes it from the provided parameters map.</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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<h2 class="memtitle"><span class="permalink"><a href="#a1568e99913769d8442c6013a7adc8796">◆ </a></span>~StereoSGBM()</h2>
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<td class="memname">virtual rtabmap::StereoSGBM::~StereoSGBM </td>
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<td>(</td>
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<p>Virtual destructor. </p>
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<p class="definition">Definition at line <a class="el" href="StereoSGBM_8h_source.html#l00065">65</a> of file <a class="el" href="StereoSGBM_8h_source.html">StereoSGBM.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="#a73934f5953650089ac337316f3d3137c">◆ </a></span>parseParameters()</h2>
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<td class="memname">virtual void rtabmap::StereoSGBM::parseParameters </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. Supported parameters:</p><ul>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#af7af5bf00901eb262fcd7c500b3299f5" title="Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).">Parameters::kStereoSGBMBlockSize()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a059488258e147cb8e84d0f5c68df9851" title="Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).">Parameters::kStereoSGBMMinDisparity()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a858454a74b148915173794e5f1e01dcb" title="Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).">Parameters::kStereoSGBMNumDisparities()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#aa5fb712638b3512045b5d2ba11cc38d3" title="Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).">Parameters::kStereoSGBMPreFilterCap()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a00ce4bb082b7be1e614472d55114ac3c" title="Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).">Parameters::kStereoSGBMUniquenessRatio()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a94dbc68ba825a4e309065d7d91422c08" title="Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).">Parameters::kStereoSGBMSpeckleWindowSize()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#aab23b5c08f1c13c6d213129a2b047d8c" title="Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).">Parameters::kStereoSGBMSpeckleRange()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a60f76920fd1d7ac7035124fa44728f2d" title="Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).">Parameters::kStereoSGBMP1()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#acec8ab4699a7d0a9c771b640f0b94c55" title="Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).">Parameters::kStereoSGBMP2()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#ab9fe06e3d5154acf8e7f5c8e3060cf5a" title="Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).">Parameters::kStereoSGBMDisp12MaxDiff()</a></li>
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<li><a class="el" href="classrtabmap_1_1Parameters.html#a838ec79552e7506f983ff71cbd6fb56d" title="Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).">Parameters::kStereoSGBMMode()</a></li>
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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 from <a class="el" href="classrtabmap_1_1StereoDense.html#ac2f693ca52897501450f2bda985c5cf5">rtabmap::StereoDense</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac0677ba125a665fe723f20814bf724cc">◆ </a></span>computeDisparity()</h2>
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<td class="memname">virtual cv::Mat rtabmap::StereoSGBM::computeDisparity </td>
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<p>Compute disparity map from stereo image pair. </p>
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<p>Computes a disparity map using the Semi-Global Block Matching algorithm. 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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<dl class="params"><dt>Parameters</dt><dd>
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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></dl>
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<p>Implements <a class="el" href="classrtabmap_1_1StereoDense.html#ac394d1dad3fa899f310e4c3eb3e428c4">rtabmap::StereoDense</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/stereo/<a class="el" href="StereoSGBM_8h_source.html">StereoSGBM.h</a></li>
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