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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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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 STEREO_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define STEREO_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="foldopen00055" data-start="{" data-end="};">
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html"> 55</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Stereo.html">Stereo</a> {</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96"> 70</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Stereo.html">Stereo</a> * <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3"> 82</a></span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3">Stereo</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5"> 87</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5">~Stereo</a>() {}</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b"> 104</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382"> 124</a></span> <span class="keyword">virtual</span> std::vector&lt;cv::Point2f&gt; <a class="code hl_function" href="classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382">computeCorrespondences</a>(</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> cv::Mat &amp; leftImage,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">const</span> cv::Mat &amp; rightImage,</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; leftCorners,</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> std::vector&lt;unsigned char&gt; &amp; status) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keyword">virtual</span> std::vector&lt;cv::Point2f&gt; computeCorrespondences(</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; leftImage,</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; rightImage,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; leftCorners,</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> std::vector&lt;unsigned char&gt; &amp; status) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54"> 154</a></span> cv::Size <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54">winSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> cv::Size(winWidth_, winHeight_);}</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816"> 160</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816">iterations</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> iterations_;}</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5"> 166</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5">maxLevel</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> maxLevel_;}</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742"> 172</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">minDisparity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> minDisparity_;}</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31"> 178</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31">maxDisparity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> maxDisparity_;}</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978"> 184</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978">winSSD</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> winSSD_;}</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179"> 190</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">isGpuEnabled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">int</span> winWidth_; </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">int</span> winHeight_; </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">int</span> iterations_; </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">int</span> maxLevel_; </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">float</span> minDisparity_; </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">float</span> maxDisparity_; </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">bool</span> winSSD_; </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span>};</div>
</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="foldopen" id="foldopen00219" data-start="{" data-end="};">
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html"> 219</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1StereoOpticalFlow.html">StereoOpticalFlow</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Stereo.html">Stereo</a> {</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5"> 230</a></span> <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5">StereoOpticalFlow</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97"> 235</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97">~StereoOpticalFlow</a>() {}</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> </div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78"> 250</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe"> 269</a></span> <span class="keyword">virtual</span> std::vector&lt;cv::Point2f&gt; <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">computeCorrespondences</a>(</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keyword">const</span> cv::Mat &amp; leftImage,</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">const</span> cv::Mat &amp; rightImage,</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; leftCorners,</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> std::vector&lt;unsigned char&gt; &amp; status) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> </div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keyword">virtual</span> std::vector&lt;cv::Point2f&gt; computeCorrespondences(</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; leftImage,</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; rightImage,</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; leftCorners,</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> std::vector&lt;unsigned char&gt; &amp; status) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8"> 302</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8">epsilon</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> epsilon_;}</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e"> 312</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">isGpuEnabled</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">bool</span> usingMinEigenVals()<span class="keyword"> const </span>{<span class="keywordflow">return</span> useMinEigenVals_;}</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">float</span> minEigThreshold()<span class="keyword"> const </span>{<span class="keywordflow">return</span> minEigThreshold_;}</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">float</span> errorThreshold()<span class="keyword"> const </span>{<span class="keywordflow">return</span> errorThreshold_;}</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> </div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">void</span> updateStatus(</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; leftCorners,</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">const</span> std::vector&lt;cv::Point2f&gt; &amp; rightCorners,</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> std::vector&lt;unsigned char&gt; &amp; status,</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> std::vector&lt;float&gt; err = {}) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> </div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">float</span> epsilon_; </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">bool</span> useMinEigenVals_;</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">float</span> minEigThreshold_;</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">float</span> errorThreshold_;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keywordtype">bool</span> gpu_; </div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span>};</div>
</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> </div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span><span class="preprocessor">#endif </span><span class="comment">/* STEREO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html">rtabmap::StereoOpticalFlow</a></div><div class="ttdoc">Sparse stereo matching using optical flow.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00219">Stereo.h:219</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_a406bbf688782966ea55a44c49ac10cbe"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#a406bbf688782966ea55a44c49ac10cbe">rtabmap::StereoOpticalFlow::computeCorrespondences</a></div><div class="ttdeci">virtual std::vector&lt; cv::Point2f &gt; computeCorrespondences(const cv::Mat &amp;leftImage, const cv::Mat &amp;rightImage, const std::vector&lt; cv::Point2f &gt; &amp;leftCorners, std::vector&lt; unsigned char &gt; &amp;status) const</div><div class="ttdoc">Compute stereo correspondences using optical flow.</div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_a85173879ab911862112710fa1c94d8c5"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#a85173879ab911862112710fa1c94d8c5">rtabmap::StereoOpticalFlow::StereoOpticalFlow</a></div><div class="ttdeci">StereoOpticalFlow(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_aac2df770eba89ed2607c024c91d82c78"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#aac2df770eba89ed2607c024c91d82c78">rtabmap::StereoOpticalFlow::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>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_abc4c02bc672566fc2dd3f7331b84944e"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow::isGpuEnabled</a></div><div class="ttdeci">virtual bool isGpuEnabled() const</div><div class="ttdoc">Check if GPU acceleration is enabled.</div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_ae53f537e0e9ebf121ff8a8b3bdc410a8"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#ae53f537e0e9ebf121ff8a8b3bdc410a8">rtabmap::StereoOpticalFlow::epsilon</a></div><div class="ttdeci">float epsilon() const</div><div class="ttdoc">Get the convergence threshold (epsilon)</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00302">Stereo.h:302</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoOpticalFlow_html_afa38ce6868f4bf0388559f81ff917a97"><div class="ttname"><a href="classrtabmap_1_1StereoOpticalFlow.html#afa38ce6868f4bf0388559f81ff917a97">rtabmap::StereoOpticalFlow::~StereoOpticalFlow</a></div><div class="ttdeci">virtual ~StereoOpticalFlow()</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00235">Stereo.h:235</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html"><div class="ttname"><a href="classrtabmap_1_1Stereo.html">rtabmap::Stereo</a></div><div class="ttdoc">Sparse stereo matching using block matching.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00055">Stereo.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a1031c68f4e66690da216718382af0ab3"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a1031c68f4e66690da216718382af0ab3">rtabmap::Stereo::Stereo</a></div><div class="ttdeci">Stereo(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a2ce0c01fac282e0a8ffd862608fa2d96"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a2ce0c01fac282e0a8ffd862608fa2d96">rtabmap::Stereo::create</a></div><div class="ttdeci">static Stereo * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Factory method to create a Stereo instance.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a3834923d75c9453e885bea01cb5ecfa5"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5">rtabmap::Stereo::maxLevel</a></div><div class="ttdeci">int maxLevel() const</div><div class="ttdoc">Get the maximum pyramid level.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00166">Stereo.h:166</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a405d17f179327670251fca395728584b"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a405d17f179327670251fca395728584b">rtabmap::Stereo::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>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a5474ebbc178bcc29ebaff3d9d4e22e54"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a5474ebbc178bcc29ebaff3d9d4e22e54">rtabmap::Stereo::winSize</a></div><div class="ttdeci">cv::Size winSize() const</div><div class="ttdoc">Get the search window size.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00154">Stereo.h:154</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_a83319186c8c434ad0482d2eb911ecd31"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31">rtabmap::Stereo::maxDisparity</a></div><div class="ttdeci">float maxDisparity() const</div><div class="ttdoc">Get the maximum disparity value.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00178">Stereo.h:178</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_aaeec1e0e5470b1b1268b4e04bff81742"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742">rtabmap::Stereo::minDisparity</a></div><div class="ttdeci">float minDisparity() const</div><div class="ttdoc">Get the minimum disparity value.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00172">Stereo.h:172</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_abde66966de114cd5649fd22602d27816"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#abde66966de114cd5649fd22602d27816">rtabmap::Stereo::iterations</a></div><div class="ttdeci">int iterations() const</div><div class="ttdoc">Get the number of iterations.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00160">Stereo.h:160</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_ac1db900d4dbca15de73a81d32f0be179"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo::isGpuEnabled</a></div><div class="ttdeci">virtual bool isGpuEnabled() const</div><div class="ttdoc">Check if GPU acceleration is enabled.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00190">Stereo.h:190</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_aca70a15916baf916d6d66c93dad6b3d5"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#aca70a15916baf916d6d66c93dad6b3d5">rtabmap::Stereo::~Stereo</a></div><div class="ttdeci">virtual ~Stereo()</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00087">Stereo.h:87</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_aed372a471e6d3ea72713e239709da978"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#aed372a471e6d3ea72713e239709da978">rtabmap::Stereo::winSSD</a></div><div class="ttdeci">bool winSSD() const</div><div class="ttdoc">Check if SSD (Sum of Squared Differences) is used.</div><div class="ttdef"><b>Definition</b> <a href="Stereo_8h_source.html#l00184">Stereo.h:184</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Stereo_html_aefb9a38643b353727430c4bb6a551382"><div class="ttname"><a href="classrtabmap_1_1Stereo.html#aefb9a38643b353727430c4bb6a551382">rtabmap::Stereo::computeCorrespondences</a></div><div class="ttdeci">virtual std::vector&lt; cv::Point2f &gt; computeCorrespondences(const cv::Mat &amp;leftImage, const cv::Mat &amp;rightImage, const std::vector&lt; cv::Point2f &gt; &amp;leftCorners, std::vector&lt; unsigned char &gt; &amp;status) const</div><div class="ttdoc">Compute stereo correspondences using block matching.</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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