rtabmap::StereoBM Class Reference

Block Matching algorithm for dense stereo matching. More...

#include <StereoBM.h>

Inheritance diagram for rtabmap::StereoBM:

Collaboration diagram for rtabmap::StereoBM:

Public Member Functions
	StereoBM (int blockSize, int numDisparities)
	Constructor with explicit block size and number of disparities.
	StereoBM (const ParametersMap &parameters=ParametersMap())
	Constructor with parameters map.
virtual	~StereoBM ()
	Virtual destructor.
virtual void	parseParameters (const ParametersMap &parameters)
	Parse parameters from a parameters map.
virtual cv::Mat	computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const
	Compute disparity map from stereo image pair.
Public Member Functions inherited from rtabmap::StereoDense
virtual	~StereoDense ()
	Virtual destructor.

Additional Inherited Members
Public Types inherited from rtabmap::StereoDense
enum	Type { kTypeBM = 0 , kTypeSGBM = 1 }
	Enumeration of available stereo matching algorithm types. More...
Static Public Member Functions inherited from rtabmap::StereoDense
static StereoDense *	create (const ParametersMap &parameters)
	Factory method to create a StereoDense instance from parameters.
static StereoDense *	create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
	Factory method to create a StereoDense instance of a specific type.
Protected Member Functions inherited from rtabmap::StereoDense
	StereoDense (const ParametersMap &parameters=ParametersMap())
	Protected constructor.

Detailed Description

Block Matching algorithm for dense stereo matching.

This class implements the Block Matching (BM) algorithm for computing disparity maps from stereo image pairs.

Note

This class wraps OpenCV's cv::StereoBM implementation.

See also

StereoSGBM for a more accurate but slower alternative

Definition at line 47 of file StereoBM.h.

Constructor & Destructor Documentation

StereoBM() [1/2]

rtabmap::StereoBM::StereoBM	(	int	blockSize,
		int	numDisparities
	)

Constructor with explicit block size and number of disparities.

Parameters

blockSize	Size of the block window for matching (must be odd, typically 5-21)
numDisparities	Number of disparity levels to search (must be divisible by 16)

StereoBM() [2/2]

rtabmap::StereoBM::StereoBM

(

const ParametersMap &

parameters = ParametersMap()

)

Constructor with parameters map.

Creates a StereoBM instance and initializes it from the provided parameters map.

Parameters

parameters

Parameters map containing configuration values

~StereoBM()

virtual rtabmap::StereoBM::~StereoBM ( )

inlinevirtual

Virtual destructor.

Definition at line 69 of file StereoBM.h.

Member Function Documentation

parseParameters()

virtual void rtabmap::StereoBM::parseParameters ( const ParametersMap &  parameters )

virtual

Parse parameters from a parameters map.

Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

• Parameters::kStereoBMBlockSize()
• Parameters::kStereoBMMinDisparity()
• Parameters::kStereoBMNumDisparities()
• Parameters::kStereoBMPreFilterSize()
• Parameters::kStereoBMPreFilterCap()
• Parameters::kStereoBMUniquenessRatio()
• Parameters::kStereoBMTextureThreshold()
• Parameters::kStereoBMSpeckleWindowSize()
• Parameters::kStereoBMSpeckleRange()
• Parameters::kStereoBMDisp12MaxDiff()

Parameters

parameters

Parameters map containing configuration values

Reimplemented from rtabmap::StereoDense.

computeDisparity()

virtual cv::Mat rtabmap::StereoBM::computeDisparity ( const cv::Mat &  leftImage, const cv::Mat &  rightImage  ) const

virtual

Compute disparity map from stereo image pair.

Computes a disparity map using the 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.

Parameters

leftImage	Left stereo image (CV_8UC1 or CV_8UC3)
rightImage	Right stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage

Returns

Disparity map as a 16-bit signed integer image (CV_16SC1)

Note

The disparity values are stored as fixed-point numbers with 4 fractional bits. To get the actual disparity, divide by 16.

Implements rtabmap::StereoDense.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/stereo/StereoBM.h