cv::cuda::StereoBeliefPropagation Class Reference

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

#include <opencv2/cudastereo.hpp>

Collaboration diagram for cv::cuda::StereoBeliefPropagation:

Public Member Functions
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.
virtual void	compute (InputArray left, InputArray right, OutputArray disparity, Stream &stream)=0
virtual double	getDataWeight () const =0
	data weight
virtual double	getDiscSingleJump () const =0
	discontinuity single jump
virtual double	getMaxDataTerm () const =0
	truncation of data cost
virtual double	getMaxDiscTerm () const =0
	truncation of discontinuity cost
virtual int	getMsgType () const =0
	type for messages (CV_16SC1 or CV_32FC1)
virtual int	getNumIters () const =0
	number of BP iterations on each level
virtual int	getNumLevels () const =0
	number of levels
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.
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.
virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual String	getDefaultName () const
virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.
virtual void	save (const String &filename) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.
void	write (FileStorage &fs, const String &name) const

Static Public Member Functions
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 ).
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.
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String.
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node.

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 belief propagation algorithm. :

The class implements algorithm described in [87] . It can compute own data cost (using a truncated linear model) or use a user-provided data cost.

Note

StereoBeliefPropagation requires a lot of memory for message storage:

\[width \_ step \cdot height \cdot ndisp \cdot 4 \cdot (1 + 0.25)\]

and for data cost storage:

\[width\_step \cdot height \cdot ndisp \cdot (1 + 0.25 + 0.0625 + \dotsm + \frac{1}{4^{levels}})\]

width_step is the number of bytes in a line including padding.

StereoBeliefPropagation uses a truncated linear model for the data cost and discontinuity terms:

\[DataCost = data \_ weight \cdot \min ( \lvert Img_Left(x,y)-Img_Right(x-d,y) \rvert , max \_ data \_ term)\]

\[DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)\]

For more details, see [87] .

By default, StereoBeliefPropagation 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:

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

See also

StereoMatcher

Member Function Documentation

compute() [1/2]

virtual void cv::cuda::StereoBeliefPropagation::compute ( InputArray data, OutputArray disparity, Stream & stream = Stream::Null() )

pure virtual

Enables the stereo correspondence operator that finds the disparity for the specified data cost.

Parameters

data	User-specified data cost, a matrix of msg_type type and Size(<image columns>*ndisp, <image rows>) size.
disparity	Output disparity map. If disparity is empty, the output type is CV_16SC1 . Otherwise, the type is retained. In 16-bit signed format, the disparity values do not have fractional bits.
stream	Stream for the asynchronous version.

compute() [2/2]

virtual void cv::cuda::StereoBeliefPropagation::compute ( InputArray left, InputArray right, OutputArray disparity, Stream & stream )

pure virtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

estimateRecommendedParams()

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

static

Uses a heuristic method to compute the recommended parameters ( ndisp, iters and levels ) for the specified image size ( width and height ).

getDataWeight()

virtual double cv::cuda::StereoBeliefPropagation::getDataWeight ( ) const

pure virtual

data weight

getDiscSingleJump()

virtual double cv::cuda::StereoBeliefPropagation::getDiscSingleJump ( ) const

pure virtual

discontinuity single jump

getMaxDataTerm()

virtual double cv::cuda::StereoBeliefPropagation::getMaxDataTerm ( ) const

pure virtual

truncation of data cost

getMaxDiscTerm()

virtual double cv::cuda::StereoBeliefPropagation::getMaxDiscTerm ( ) const

pure virtual

truncation of discontinuity cost

getMsgType()

virtual int cv::cuda::StereoBeliefPropagation::getMsgType ( ) const

pure virtual

type for messages (CV_16SC1 or CV_32FC1)

getNumIters()

virtual int cv::cuda::StereoBeliefPropagation::getNumIters ( ) const

pure virtual

number of BP iterations on each level

getNumLevels()

virtual int cv::cuda::StereoBeliefPropagation::getNumLevels ( ) const

pure virtual

number of levels

setDataWeight()

virtual void cv::cuda::StereoBeliefPropagation::setDataWeight ( double data_weight )

pure virtual

setDiscSingleJump()

virtual void cv::cuda::StereoBeliefPropagation::setDiscSingleJump ( double disc_single_jump )

pure virtual

setMaxDataTerm()

virtual void cv::cuda::StereoBeliefPropagation::setMaxDataTerm ( double max_data_term )

pure virtual

setMaxDiscTerm()

virtual void cv::cuda::StereoBeliefPropagation::setMaxDiscTerm ( double max_disc_term )

pure virtual

setMsgType()

virtual void cv::cuda::StereoBeliefPropagation::setMsgType ( int msg_type )

pure virtual

setNumIters()

virtual void cv::cuda::StereoBeliefPropagation::setNumIters ( int iters )

pure virtual

setNumLevels()

virtual void cv::cuda::StereoBeliefPropagation::setNumLevels ( int levels )

pure virtual

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

• opencv2/cudastereo.hpp