StereoDense.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef STEREODENSE_H_
29 #define STEREODENSE_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
34 #include <opencv2/core/core.hpp>
35 
36 namespace rtabmap {
37 
39 public:
40  virtual ~StereoDense() {}
41 
42  virtual void parseParameters(const ParametersMap & parameters) {}
43  virtual cv::Mat computeDisparity(
44  const cv::Mat & leftImage,
45  const cv::Mat & rightImage) const = 0;
46 
47 protected:
48  StereoDense(const ParametersMap & parameters = ParametersMap()) {}
49 };
50 
52 public:
53  StereoBM(int blockSize, int numDisparities);
54  StereoBM(const ParametersMap & parameters = ParametersMap());
55  virtual ~StereoBM() {}
56 
57  virtual void parseParameters(const ParametersMap & parameters);
58  virtual cv::Mat computeDisparity(
59  const cv::Mat & leftImage,
60  const cv::Mat & rightImage) const;
61 
62 private:
63  int blockSize_; //15
64  int minDisparity_; //0
65  int numDisparities_; //64
66  int preFilterSize_; //9
67  int preFilterCap_; //31
68  int uniquenessRatio_; //15
70  int speckleWindowSize_; //100
71  int speckleRange_; //4
72 };
73 
74 } /* namespace rtabmap */
75 
76 #endif /* STEREODENSE_H_ */
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:41
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual void parseParameters(const ParametersMap &parameters)
Definition: StereoDense.h:42
virtual ~StereoDense()
Definition: StereoDense.h:40
virtual ~StereoBM()
Definition: StereoDense.h:55
StereoDense(const ParametersMap &parameters=ParametersMap())
Definition: StereoDense.h:48


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:40