Disparity map filter based on Weighted Least Squares filter (in form of Fast Global Smoother that is a lot faster than traditional Weighted Least Squares filter implementations) and optional use of left-right-consistency-based confidence to refine the results in half-occlusions and uniform areas. More...

#include "disparity_filter.hpp"

Inheritance diagram for cv::ximgproc::DisparityWLSFilter:

Public Member Functions
virtual Mat	getConfidenceMap ()=0
	Get the confidence map that was used in the last filter call. It is a CV_32F one-channel image with values ranging from 0.0 (totally untrusted regions of the raw disparity map) to 255.0 (regions containing correct disparity values with a high degree of confidence). More...

virtual int	getDepthDiscontinuityRadius ()=0
	DepthDiscontinuityRadius is a parameter used in confidence computation. It defines the size of low-confidence regions around depth discontinuities. More...

virtual double	getLambda ()=0
	Lambda is a parameter defining the amount of regularization during filtering. Larger values force filtered disparity map edges to adhere more to source image edges. Typical value is 8000. More...

virtual int	getLRCthresh ()=0
	LRCthresh is a threshold of disparity difference used in left-right-consistency check during confidence map computation. The default value of 24 (1.5 pixels) is virtually always good enough. More...

virtual Rect	getROI ()=0
	Get the ROI used in the last filter call. More...

virtual double	getSigmaColor ()=0
	SigmaColor is a parameter defining how sensitive the filtering process is to source image edges. Large values can lead to disparity leakage through low-contrast edges. Small values can make the filter too sensitive to noise and textures in the source image. Typical values range from 0.8 to 2.0. More...

virtual void	setDepthDiscontinuityRadius (int _disc_radius)=0

virtual void	setLambda (double _lambda)=0

virtual void	setLRCthresh (int _LRC_thresh)=0

virtual void	setSigmaColor (double _sigma_color)=0

Public Member Functions inherited from cv::ximgproc::DisparityFilter
virtual void	filter (InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right=Mat(), Rect ROI=Rect(), InputArray right_view=Mat())=0
	Apply filtering to the disparity map. More...

Public Member Functions inherited from cv::Algorithm
	Algorithm ()

virtual	~Algorithm ()

virtual void	clear ()
	Clears the algorithm state. More...

virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...

virtual String	getDefaultName () const

virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage. More...

virtual void	save (const String &filename) const

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage. More...

Additional Inherited Members
Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file. More...

template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String. More...

template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node. More...

Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Detailed Description

Disparity map filter based on Weighted Least Squares filter (in form of Fast Global Smoother that is a lot faster than traditional Weighted Least Squares filter implementations) and optional use of left-right-consistency-based confidence to refine the results in half-occlusions and uniform areas.

Member Function Documentation

§ getConfidenceMap()

virtual Mat cv::ximgproc::DisparityWLSFilter::getConfidenceMap ( )

pure virtual

Get the confidence map that was used in the last filter call. It is a CV_32F one-channel image with values ranging from 0.0 (totally untrusted regions of the raw disparity map) to 255.0 (regions containing correct disparity values with a high degree of confidence).

§ getDepthDiscontinuityRadius()

virtual int cv::ximgproc::DisparityWLSFilter::getDepthDiscontinuityRadius ( )

pure virtual

DepthDiscontinuityRadius is a parameter used in confidence computation. It defines the size of low-confidence regions around depth discontinuities.

§ getLambda()

virtual double cv::ximgproc::DisparityWLSFilter::getLambda ( )

pure virtual

Lambda is a parameter defining the amount of regularization during filtering. Larger values force filtered disparity map edges to adhere more to source image edges. Typical value is 8000.

filter parameters

§ getLRCthresh()

virtual int cv::ximgproc::DisparityWLSFilter::getLRCthresh ( )

pure virtual

LRCthresh is a threshold of disparity difference used in left-right-consistency check during confidence map computation. The default value of 24 (1.5 pixels) is virtually always good enough.

confidence-related parameters

§ getROI()

virtual Rect cv::ximgproc::DisparityWLSFilter::getROI ( )

pure virtual

Get the ROI used in the last filter call.

§ getSigmaColor()

virtual double cv::ximgproc::DisparityWLSFilter::getSigmaColor ( )

pure virtual

SigmaColor is a parameter defining how sensitive the filtering process is to source image edges. Large values can lead to disparity leakage through low-contrast edges. Small values can make the filter too sensitive to noise and textures in the source image. Typical values range from 0.8 to 2.0.