Class cv::cuda::StereoConstantSpaceBP#

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

#include <opencv2/cudastereo.hpp>

Collaboration diagram for cv::cuda::StereoConstantSpaceBP:

Public Member Functions#

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

Return	Name	Description
`void`	`compute(` `InputArray data,` `OutputArray disparity,` `Stream & stream = Stream::Null() )`	Enables the stereo correspondence operator that finds the disparity for the specified data cost.
`void`	`compute(` `InputArray left,` `InputArray right,` `OutputArray disparity,` `Stream & stream )`
`double`	`getDataWeight()`	data weight
`double`	`getDiscSingleJump()`	discontinuity single jump
`double`	`getMaxDataTerm()`	truncation of data cost
`double`	`getMaxDiscTerm()`	truncation of discontinuity cost
`int`	`getMsgType()`	type for messages (CV_16SC1 or CV_32FC1)
`int`	`getNumIters()`	number of BP iterations on each level
`int`	`getNumLevels()`	number of levels
`void`	`setDataWeight(double data_weight)`
`void`	`setDiscSingleJump(double disc_single_jump)`
`void`	`setMaxDataTerm(double max_data_term)`
`void`	`setMaxDiscTerm(double max_disc_term)`
`void`	`setMsgType(int msg_type)`
`void`	`setNumIters(int iters)`
`void`	`setNumLevels(int levels)`

Public Member Functions inherited from cv::Algorithm

Return	Name	Description
	`Algorithm()`
	`~Algorithm()`
`void`	`clear()`	Clears the algorithm state.
`bool`	`empty()`	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
`String`	`getDefaultName()`
`void`	`read(const FileNode & fn)`	Reads algorithm parameters from a file storage.
`void`	`save(const String & filename)`
`void`	`write(` `const Ptr< FileStorage > & fs,` `const String & name = String() )`
`void`	`write(FileStorage & fs)`	Stores algorithm parameters in a file storage.
`void`	`write(` `FileStorage & fs,` `const String & name )`

Static Public Member Functions#

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

Return	Name	Description
`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

Return	Name	Description
`static Ptr< _Tp >`	`load(` `const String & filename,` `const String & objname = String() )`	Loads algorithm from the file.
`static Ptr< _Tp >`	`loadFromString(` `const String & strModel,` `const String & objname = String() )`	Loads algorithm from a String.
`static Ptr< _Tp >`	`read(const FileNode & fn)`	Reads algorithm from the file node.

Additional Inherited Members#

Detailed Description#

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

The class implements algorithm described in Yang2010 . 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 Yang2010 .

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#

getNrPlane()#

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

number of active disparity on the first level

getUseLocalInitDataCost()#

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

setNrPlane()#

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

setUseLocalInitDataCost()#

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

estimateRecommendedParams()#

static void cv::cuda::StereoConstantSpaceBP::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).

Source file#

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

opencv2/cudastereo.hpp