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OpenCV
3.4.20
Open Source Computer Vision
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Class computing stereo correspondence using the constant space belief propagation algorithm. : More...
#include <opencv2/cudastereo.hpp>
Public Member Functions | |
virtual int | getNrPlane () const =0 |
number of active disparity on the first level More... | |
virtual bool | getUseLocalInitDataCost () const =0 |
virtual void | setNrPlane (int nr_plane)=0 |
virtual void | setUseLocalInitDataCost (bool use_local_init_data_cost)=0 |
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virtual void | compute (InputArray left, InputArray right, OutputArray disparity, Stream &stream)=0 |
virtual void | compute (InputArray data, OutputArray disparity, Stream &stream=Stream::Null())=0 |
Enables the stereo correspondence operator that finds the disparity for the specified data cost. More... | |
virtual double | getDataWeight () const =0 |
data weight More... | |
virtual double | getDiscSingleJump () const =0 |
discontinuity single jump More... | |
virtual double | getMaxDataTerm () const =0 |
truncation of data cost More... | |
virtual double | getMaxDiscTerm () const =0 |
truncation of discontinuity cost More... | |
virtual int | getMsgType () const =0 |
type for messages (CV_16SC1 or CV_32FC1) More... | |
virtual int | getNumIters () const =0 |
number of BP iterations on each level More... | |
virtual int | getNumLevels () const =0 |
number of levels More... | |
virtual void | setDataWeight (double data_weight)=0 |
virtual void | setDiscSingleJump (double disc_single_jump)=0 |
virtual void | setMaxDataTerm (double max_data_term)=0 |
virtual void | setMaxDiscTerm (double max_disc_term)=0 |
virtual void | setMsgType (int msg_type)=0 |
virtual void | setNumIters (int iters)=0 |
virtual void | setNumLevels (int levels)=0 |
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virtual void | compute (InputArray left, InputArray right, OutputArray disparity)=0 |
Computes disparity map for the specified stereo pair. More... | |
virtual int | getBlockSize () const =0 |
virtual int | getDisp12MaxDiff () const =0 |
virtual int | getMinDisparity () const =0 |
virtual int | getNumDisparities () const =0 |
virtual int | getSpeckleRange () const =0 |
virtual int | getSpeckleWindowSize () const =0 |
virtual void | setBlockSize (int blockSize)=0 |
virtual void | setDisp12MaxDiff (int disp12MaxDiff)=0 |
virtual void | setMinDisparity (int minDisparity)=0 |
virtual void | setNumDisparities (int numDisparities)=0 |
virtual void | setSpeckleRange (int speckleRange)=0 |
virtual void | setSpeckleWindowSize (int speckleWindowSize)=0 |
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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... | |
void | write (FileStorage &fs, const String &name) const |
void | write (const Ptr< FileStorage > &fs, const String &name=String()) const |
Static Public Member Functions | |
static void | estimateRecommendedParams (int width, int height, int &ndisp, int &iters, int &levels, int &nr_plane) |
Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified image size (widthand height). More... | |
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static void | estimateRecommendedParams (int width, int height, int &ndisp, int &iters, int &levels) |
Uses a heuristic method to compute the recommended parameters ( ndisp, iters and levels ) for the specified image size ( width and height ). More... | |
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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... | |
Additional Inherited Members | |
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enum | { DISP_SHIFT = 4, DISP_SCALE = (1 << DISP_SHIFT) } |
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void | writeFormat (FileStorage &fs) const |
Class computing stereo correspondence using the constant space belief propagation algorithm. :
The class implements algorithm described in [246] . StereoConstantSpaceBP supports both local minimum and global minimum data cost initialization algorithms. For more details, see the paper mentioned above. By default, a local algorithm is used. To enable a global algorithm, set use_local_init_data_cost to false .
StereoConstantSpaceBP uses a truncated linear model for the data cost and discontinuity terms:
\[DataCost = data \_ weight \cdot \min ( \lvert I_2-I_1 \rvert , max \_ data \_ term)\]
\[DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)\]
For more details, see [246] .
By default, StereoConstantSpaceBP uses floating-point arithmetics and the CV_32FC1 type for messages. But it can also use fixed-point arithmetics and the CV_16SC1 message type for better performance. To avoid an overflow in this case, the parameters must satisfy the following requirement:
\[10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX\]
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static |
Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified image size (widthand height).
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pure virtual |
number of active disparity on the first level
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pure virtual |
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pure virtual |
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pure virtual |