StereoBM.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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15 
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26 */
27 
28 #ifndef STEREOBM_H_
29 #define STEREOBM_H_
30 
33 #include <opencv2/core/core.hpp>
34 
35 namespace rtabmap {
36 
37 class RTABMAP_CORE_EXPORT StereoBM : public StereoDense {
38 public:
39  StereoBM(int blockSize, int numDisparities);
40  StereoBM(const ParametersMap & parameters = ParametersMap());
41  virtual ~StereoBM() {}
42 
43  virtual void parseParameters(const ParametersMap & parameters);
44  virtual cv::Mat computeDisparity(
45  const cv::Mat & leftImage,
46  const cv::Mat & rightImage) const;
47 
48 private:
49  int blockSize_; //15
50  int minDisparity_; //0
51  int numDisparities_; //64
52  int preFilterSize_; //9
53  int preFilterCap_; //31
54  int uniquenessRatio_; //15
56  int speckleWindowSize_; //100
57  int speckleRange_; //4
58  int disp12MaxDiff_; //-1
59 };
60 
61 } /* namespace rtabmap */
62 
63 #endif /* STEREOBM_H_ */
rtabmap::StereoBM::numDisparities_
int numDisparities_
Definition: StereoBM.h:51
rtabmap::StereoBM::~StereoBM
virtual ~StereoBM()
Definition: StereoBM.h:41
rtabmap::StereoBM
Definition: StereoBM.h:37
rtabmap::StereoBM::speckleWindowSize_
int speckleWindowSize_
Definition: StereoBM.h:56
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::StereoBM::blockSize_
int blockSize_
Definition: StereoBM.h:49
Parameters.h
rtabmap::StereoDense
Definition: StereoDense.h:38
rtabmap::StereoBM::textureThreshold_
int textureThreshold_
Definition: StereoBM.h:55
rtabmap::StereoBM::uniquenessRatio_
int uniquenessRatio_
Definition: StereoBM.h:54
rtabmap::StereoBM::minDisparity_
int minDisparity_
Definition: StereoBM.h:50
rtabmap::StereoBM::speckleRange_
int speckleRange_
Definition: StereoBM.h:57
rtabmap::StereoBM::disp12MaxDiff_
int disp12MaxDiff_
Definition: StereoBM.h:58
rtabmap::StereoBM::preFilterCap_
int preFilterCap_
Definition: StereoBM.h:53
rtabmap
Definition: CameraARCore.cpp:35
StereoDense.h
rtabmap::StereoBM::preFilterSize_
int preFilterSize_
Definition: StereoBM.h:52


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:22