Detailed Description

A structure containing options for the matching.

Definition at line 345 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMatchingOptions:

Public Types
enum	TMatchingMethod { mmCorrelation = 0, mmDescriptorSIFT, mmDescriptorSURF, mmSAD, mmDescriptorORB }
	Method for propagating the feature's image coordinate uncertainty into 3D space. More...

Public Member Functions
	TMatchingOptions ()
	Intrinsic parameters of the stereo rig. More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (std::ostream &out) const override
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

bool	operator== (const TMatchingOptions &o) const

void	operator= (const TMatchingOptions &o)

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

virtual void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Public Attributes
bool	useEpipolarRestriction {true}
	Whether or not take into account the epipolar restriction for finding correspondences. More...

bool	hasFundamentalMatrix {false}
	Whether or not there is a fundamental matrix. More...

bool	parallelOpticalAxis {true}
	Whether or not the stereo rig has the optical axes parallel. More...

bool	useXRestriction {true}
	Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera, for example) More...

bool	addMatches {false}
	Whether or not to add the matches found into the input matched list (if false the input list will be cleared before being filled with the new matches) More...

bool	useDisparityLimits {false}
	Whether or not use limits (min,max) for the disparity, see also 'min_disp, max_disp'. More...

bool	enable_robust_1to1_match
	Whether or not only permit matches that are consistent from left->right and right->left. More...

float	min_disp {1.0f}
	Disparity limits, see also 'useDisparityLimits'. More...

float	max_disp {1e4f}

mrpt::math::CMatrixDouble33	F

TMatchingMethod	matching_method {mmCorrelation}
	Matching method. More...

float	epipolar_TH {1.5f}
	Epipolar constraint (rows of pixels) More...

float	maxEDD_TH {90.0f}
	Maximum Euclidean Distance Between SIFT Descriptors. More...

float	EDD_RATIO {0.6f}
	Boundary Ratio between the two lowest EDD. More...

float	minCC_TH {0.95f}
	Minimum Value of the Cross Correlation. More...

float	minDCC_TH {0.025f}
	Minimum Difference Between the Maximum Cross Correlation Values. More...

float	rCC_TH {0.92f}
	Maximum Ratio Between the two highest CC values. More...

float	maxEDSD_TH {0.15f}
	Maximum Euclidean Distance Between SURF Descriptors. More...

float	EDSD_RATIO {0.6f}
	Boundary Ratio between the two lowest SURF EDSD. More...

double	maxSAD_TH {0.4}
	Minimum Euclidean Distance Between Sum of Absolute Differences. More...

double	SAD_RATIO {0.5}
	Boundary Ratio between the two highest SAD. More...

double	maxORB_dist
	Maximun distance between ORB descriptors. More...

bool	estimateDepth {false}
	Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now). More...

double	maxDepthThreshold {15.0}
	The maximum allowed depth for the matching. More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Member Enumeration Documentation

◆ TMatchingMethod

enum mrpt::vision::TMatchingOptions::TMatchingMethod

Method for propagating the feature's image coordinate uncertainty into 3D space.

Default value: Prop_Linear

Enumerator
mmCorrelation	Matching by cross correlation of the image patches.
mmDescriptorSIFT	Matching by Euclidean distance between SIFT descriptors.
mmDescriptorSURF	Matching by Euclidean distance between SURF descriptors.
mmSAD	Matching by sum of absolute differences of the image patches.
mmDescriptorORB	Matching by Hamming distance between ORB descriptors.

Definition at line 350 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

◆ TMatchingOptions()

TMatchingOptions::TMatchingOptions ( )

default

Intrinsic parameters of the stereo rig.

Constructor

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ dumpToTextStream()

void TMatchingOptions::dumpToTextStream ( std::ostream & out ) const

overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 2091 of file vision_utils.cpp.

References addMatches, EDD_RATIO, EDSD_RATIO, epipolar_TH, estimateDepth, mrpt::format(), hasFundamentalMatrix, matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, mmCorrelation, mmDescriptorORB, mmDescriptorSIFT, mmDescriptorSURF, mmSAD, parallelOpticalAxis, rCC_TH, SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ loadFromConfigFile()

void TMatchingOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 2024 of file vision_utils.cpp.

References addMatches, EDD_RATIO, EDSD_RATIO, epipolar_TH, estimateDepth, hasFundamentalMatrix, iniFile(), matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, mmCorrelation, mmDescriptorORB, mmDescriptorSIFT, mmDescriptorSURF, mmSAD, parallelOpticalAxis, rCC_TH, SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

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◆ operator=()

void mrpt::vision::TMatchingOptions::operator= ( const TMatchingOptions & o )

inline

Definition at line 472 of file vision/include/mrpt/vision/types.h.

References addMatches, COPY_MEMBER, EDD_RATIO, EDSD_RATIO, enable_robust_1to1_match, epipolar_TH, estimateDepth, F, hasFundamentalMatrix, matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, parallelOpticalAxis, rCC_TH, SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

◆ operator==()

bool mrpt::vision::TMatchingOptions::operator== ( const TMatchingOptions & o ) const

inline

Definition at line 453 of file vision/include/mrpt/vision/types.h.

References addMatches, CHECK_MEMBER, EDD_RATIO, EDSD_RATIO, enable_robust_1to1_match, epipolar_TH, estimateDepth, F, hasFundamentalMatrix, matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, parallelOpticalAxis, rCC_TH, SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ addMatches

bool mrpt::vision::TMatchingOptions::addMatches {false}

Whether or not to add the matches found into the input matched list (if false the input list will be cleared before being filled with the new matches)

Definition at line 383 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ EDD_RATIO

float mrpt::vision::TMatchingOptions::EDD_RATIO {0.6f}

Boundary Ratio between the two lowest EDD.

Definition at line 406 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ EDSD_RATIO

float mrpt::vision::TMatchingOptions::EDSD_RATIO {0.6f}

Boundary Ratio between the two lowest SURF EDSD.

Definition at line 420 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ enable_robust_1to1_match

bool mrpt::vision::TMatchingOptions::enable_robust_1to1_match

Whether or not only permit matches that are consistent from left->right and right->left.

Definition at line 389 of file vision/include/mrpt/vision/types.h.

Referenced by operator=(), and operator==().

◆ epipolar_TH

float mrpt::vision::TMatchingOptions::epipolar_TH {1.5f}

Epipolar constraint (rows of pixels)

Definition at line 400 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ estimateDepth

bool mrpt::vision::TMatchingOptions::estimateDepth {false}

Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now).

Definition at line 435 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ F

mrpt::math::CMatrixDouble33 mrpt::vision::TMatchingOptions::F

Definition at line 394 of file vision/include/mrpt/vision/types.h.

Referenced by operator=(), and operator==().

◆ hasFundamentalMatrix

bool mrpt::vision::TMatchingOptions::hasFundamentalMatrix {false}

Whether or not there is a fundamental matrix.

Definition at line 374 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ matching_method

TMatchingMethod mrpt::vision::TMatchingOptions::matching_method {mmCorrelation}

Matching method.

Definition at line 398 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ max_disp

float mrpt::vision::TMatchingOptions::max_disp {1e4f}

Definition at line 392 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), operator=(), and operator==().

◆ maxDepthThreshold

double mrpt::vision::TMatchingOptions::maxDepthThreshold {15.0}

The maximum allowed depth for the matching.

If its computed depth is larger than this, the match won't be considered.

Definition at line 438 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ maxEDD_TH

float mrpt::vision::TMatchingOptions::maxEDD_TH {90.0f}

Maximum Euclidean Distance Between SIFT Descriptors.

Definition at line 404 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ maxEDSD_TH

float mrpt::vision::TMatchingOptions::maxEDSD_TH {0.15f}

Maximum Euclidean Distance Between SURF Descriptors.

Definition at line 418 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ maxORB_dist

double mrpt::vision::TMatchingOptions::maxORB_dist

Maximun distance between ORB descriptors.

Definition at line 430 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ maxSAD_TH

double mrpt::vision::TMatchingOptions::maxSAD_TH {0.4}

Minimum Euclidean Distance Between Sum of Absolute Differences.

Definition at line 424 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ min_disp

float mrpt::vision::TMatchingOptions::min_disp {1.0f}

Disparity limits, see also 'useDisparityLimits'.

Definition at line 392 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), operator=(), and operator==().

◆ minCC_TH

float mrpt::vision::TMatchingOptions::minCC_TH {0.95f}

Minimum Value of the Cross Correlation.

Definition at line 410 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ minDCC_TH

float mrpt::vision::TMatchingOptions::minDCC_TH {0.025f}

Minimum Difference Between the Maximum Cross Correlation Values.

Definition at line 412 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), operator=(), and operator==().

◆ parallelOpticalAxis

bool mrpt::vision::TMatchingOptions::parallelOpticalAxis {true}

Whether or not the stereo rig has the optical axes parallel.

Definition at line 376 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ rCC_TH

float mrpt::vision::TMatchingOptions::rCC_TH {0.92f}

Maximum Ratio Between the two highest CC values.

Definition at line 414 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ SAD_RATIO

double mrpt::vision::TMatchingOptions::SAD_RATIO {0.5}

Boundary Ratio between the two highest SAD.

Definition at line 426 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ useDisparityLimits

bool mrpt::vision::TMatchingOptions::useDisparityLimits {false}

Whether or not use limits (min,max) for the disparity, see also 'min_disp, max_disp'.

Definition at line 386 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), operator=(), and operator==().

◆ useEpipolarRestriction

bool mrpt::vision::TMatchingOptions::useEpipolarRestriction {true}

Whether or not take into account the epipolar restriction for finding correspondences.

Definition at line 372 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

◆ useXRestriction

bool mrpt::vision::TMatchingOptions::useXRestriction {true}

Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera, for example)

Definition at line 379 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::vision::matchFeatures(), operator=(), and operator==().

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Protected Member Functions

Member Enumeration Documentation

◆ TMatchingMethod

Constructor & Destructor Documentation

◆ TMatchingOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ operator=()

◆ operator==()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ addMatches

◆ EDD_RATIO

◆ EDSD_RATIO

◆ enable_robust_1to1_match

◆ epipolar_TH

◆ estimateDepth

◆ F

◆ hasFundamentalMatrix

◆ matching_method

◆ max_disp

◆ maxDepthThreshold

◆ maxEDD_TH

◆ maxEDSD_TH

◆ maxORB_dist

◆ maxSAD_TH

◆ min_disp

◆ minCC_TH

◆ minDCC_TH

◆ parallelOpticalAxis

◆ rCC_TH

◆ SAD_RATIO

◆ useDisparityLimits

◆ useEpipolarRestriction

◆ useXRestriction