rtabmap::StereoSGBM Class Reference

Semi-Global Block Matching algorithm for dense stereo matching. More...

#include <StereoSGBM.h>

Inheritance diagram for rtabmap::StereoSGBM:

Collaboration diagram for rtabmap::StereoSGBM:

Public Member Functions
	StereoSGBM (const ParametersMap &parameters=ParametersMap())
	Constructor with parameters map.
virtual	~StereoSGBM ()
	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

Semi-Global Block Matching algorithm for dense stereo matching.

This class implements the Semi-Global Block Matching (SGBM) algorithm for computing disparity maps from stereo image pairs.

SGBM generally produces more accurate results than Block Matching, especially in textureless regions and areas with repetitive patterns, but is computationally more expensive.

Note

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

See also

StereoBM for a faster but less accurate alternative

Definition at line 51 of file StereoSGBM.h.

Constructor & Destructor Documentation

StereoSGBM()

rtabmap::StereoSGBM::StereoSGBM

(

const ParametersMap &

parameters = ParametersMap()

)

Constructor with parameters map.

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

Parameters

parameters

Parameters map containing configuration values

~StereoSGBM()

virtual rtabmap::StereoSGBM::~StereoSGBM ( )

inlinevirtual

Virtual destructor.

Definition at line 65 of file StereoSGBM.h.

Member Function Documentation

parseParameters()

virtual void rtabmap::StereoSGBM::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::kStereoSGBMBlockSize()
• Parameters::kStereoSGBMMinDisparity()
• Parameters::kStereoSGBMNumDisparities()
• Parameters::kStereoSGBMPreFilterCap()
• Parameters::kStereoSGBMUniquenessRatio()
• Parameters::kStereoSGBMSpeckleWindowSize()
• Parameters::kStereoSGBMSpeckleRange()
• Parameters::kStereoSGBMP1()
• Parameters::kStereoSGBMP2()
• Parameters::kStereoSGBMDisp12MaxDiff()
• Parameters::kStereoSGBMMode()

Parameters

parameters

Parameters map containing configuration values

Reimplemented from rtabmap::StereoDense.

computeDisparity()

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

virtual

Compute disparity map from stereo image pair.

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.

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/StereoSGBM.h