Class computing stereo correspondence using the constant space belief propagation algorithm. : More...

#include <opencv2/cudastereo.hpp>

Inheritance diagram for cv::cuda::StereoConstantSpaceBP:

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

Public Member Functions inherited from cv::cuda::StereoBeliefPropagation
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

Public Member Functions inherited from cv::StereoMatcher
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

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...

void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
	simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

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...

Static Public Member Functions inherited from cv::cuda::StereoBeliefPropagation
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...

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...

Additional Inherited Members
Public Types inherited from cv::StereoMatcher
enum	{ DISP_SHIFT = 4, DISP_SCALE = (1 << DISP_SHIFT) }

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

Detailed Description

Class computing stereo correspondence using the constant space belief propagation algorithm. :

The class implements algorithm described in [236] . 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 [236] .

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:

\[10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX\]

Member Function Documentation

◆ estimateRecommendedParams()

static void cv::cuda::StereoConstantSpaceBP::estimateRecommendedParams	(	int	width,
		int	height,
		int &	ndisp,
		int &	iters,
		int &	levels,
		int &	nr_plane
	)

static

Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified image size (widthand height).

◆ getNrPlane()

virtual int cv::cuda::StereoConstantSpaceBP::getNrPlane ( ) const

pure virtual

number of active disparity on the first level

◆ getUseLocalInitDataCost()

virtual bool cv::cuda::StereoConstantSpaceBP::getUseLocalInitDataCost ( ) const

pure virtual

◆ setNrPlane()

virtual void cv::cuda::StereoConstantSpaceBP::setNrPlane ( int nr_plane )

pure virtual

◆ setUseLocalInitDataCost()

virtual void cv::cuda::StereoConstantSpaceBP::setUseLocalInitDataCost ( bool use_local_init_data_cost )

pure virtual

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

opencv2/cudastereo.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ estimateRecommendedParams()

◆ getNrPlane()

◆ getUseLocalInitDataCost()

◆ setNrPlane()

◆ setUseLocalInitDataCost()