Class cv::cuda::StereoSGM#

The class implements the modified H. Hirschmuller algorithm [141]. Limitation and difference are as follows: View details

#include <opencv2/cudastereo.hpp>

Collaboration diagram for cv::cuda::StereoSGM:

cv::cuda::StereoSGM Node1 cv::cuda::StereoSGM   + compute() + compute() Node2 cv::StereoSGBM   + getMode() + getP1() + getP2() + getPreFilterCap() + getUniquenessRatio() + setMode() + setP1() + setP2() + setPreFilterCap() + setUniquenessRatio() + create() Node2->Node1 Node3 cv::StereoMatcher   + compute() + getBlockSize() + getDisp12MaxDiff() + getMinDisparity() + getNumDisparities() + getSpeckleRange() + getSpeckleWindowSize() + setBlockSize() + setDisp12MaxDiff() + setMinDisparity() + setNumDisparities() + setSpeckleRange() + setSpeckleWindowSize() Node3->Node2 Node4 cv::Algorithm   + Algorithm() + ~Algorithm() + clear() + empty() + getDefaultName() + read() + save() + write() + write() + load() + loadFromString() + read() # writeFormat() Node4->Node3

cv::cuda::StereoSGM Node1 cv::cuda::StereoSGM   + compute() + compute() Node2 cv::StereoSGBM   + getMode() + getP1() + getP2() + getPreFilterCap() + getUniquenessRatio() + setMode() + setP1() + setP2() + setPreFilterCap() + setUniquenessRatio() + create() Node2->Node1 Node3 cv::StereoMatcher   + compute() + getBlockSize() + getDisp12MaxDiff() + getMinDisparity() + getNumDisparities() + getSpeckleRange() + getSpeckleWindowSize() + setBlockSize() + setDisp12MaxDiff() + setMinDisparity() + setNumDisparities() + setSpeckleRange() + setSpeckleWindowSize() Node3->Node2 Node4 cv::Algorithm   + Algorithm() + ~Algorithm() + clear() + empty() + getDefaultName() + read() + save() + write() + write() + load() + loadFromString() + read() # writeFormat() Node4->Node3

Public Member Functions#

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::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#

Protected Member Functions inherited from cv::Algorithm

Return

Name

Description

void

writeFormat(FileStorage & fs)

Detailed Description#

The class implements the modified H. Hirschmuller algorithm HH08. Limitation and difference are as follows:

  • By default, the algorithm uses only 4 directions which are horizontal and vertical path instead of 8. Set mode=StereoSGM::MODE_HH in createStereoSGM to run the full variant of the algorithm.

  • Mutual Information cost function is not implemented. Instead, Center-Symmetric Census Transform with \(9 \times 7\) window size from Spangenberg2013 is used for robustness.

See also

cv::StereoSGBM

Member Function Documentation#

compute()#

void cv::cuda::StereoSGM::compute(
InputArray left,
InputArray right,
OutputArray disparity )

Computes disparity map for the specified stereo pair.

Parameters

  • left — Left 8-bit or 16-bit unsigned single-channel image.

  • right — Right image of the same size and the same type as the left one.

  • disparity — Output disparity map. It has the same size as the input images. StereoSGM computes 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits).

compute()#

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

Computes disparity map with specified CUDA Stream.

See also

compute

Source file#

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