Class cv::ximgproc::DisparityWLSFilter#

Disparity map filter based on Weighted Least Squares filter (in form of Fast Global Smoother that is a lot faster than traditional Weighted Least Squares filter implementations) and optional use of left-right-consistency-based confidence to refine the results in half-occlusions and uniform areas.

#include <opencv2/ximgproc/disparity_filter.hpp>

Collaboration diagram for cv::ximgproc::DisparityWLSFilter:

Public Member Functions#

Public Member Functions inherited from cv::ximgproc::DisparityFilter

Return	Name	Description
`void`	`filter(` `InputArray disparity_map_left,` `InputArray left_view,` `OutputArray filtered_disparity_map,` `InputArray disparity_map_right = Mat(),` `Rect ROI = Rect(),` `InputArray right_view = Mat() )`	Apply filtering to the disparity map.

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#

Detailed Description#

Disparity map filter based on Weighted Least Squares filter (in form of Fast Global Smoother that is a lot faster than traditional Weighted Least Squares filter implementations) and optional use of left-right-consistency-based confidence to refine the results in half-occlusions and uniform areas.

Member Function Documentation#

getConfidenceMap()#

Mat cv::ximgproc::DisparityWLSFilter::getConfidenceMap()

Get the confidence map that was used in the last filter call. It is a CV_32F one-channel image with values ranging from 0.0 (totally untrusted regions of the raw disparity map) to 255.0 (regions containing correct disparity values with a high degree of confidence).

getDepthDiscontinuityRadius()#

int cv::ximgproc::DisparityWLSFilter::getDepthDiscontinuityRadius()

DepthDiscontinuityRadius is a parameter used in confidence computation. It defines the size of low-confidence regions around depth discontinuities.

getLambda()#

double cv::ximgproc::DisparityWLSFilter::getLambda()

Lambda is a parameter defining the amount of regularization during filtering. Larger values force filtered disparity map edges to adhere more to source image edges. Typical value is 8000.

filter parameters

getLRCthresh()#

int cv::ximgproc::DisparityWLSFilter::getLRCthresh()

LRCthresh is a threshold of disparity difference used in left-right-consistency check during confidence map computation. The default value of 24 (1.5 pixels) is virtually always good enough.

confidence-related parameters

getROI()#

Rect cv::ximgproc::DisparityWLSFilter::getROI()

Get the ROI used in the last filter call.

getSigmaColor()#

double cv::ximgproc::DisparityWLSFilter::getSigmaColor()

SigmaColor is a parameter defining how sensitive the filtering process is to source image edges. Large values can lead to disparity leakage through low-contrast edges. Small values can make the filter too sensitive to noise and textures in the source image. Typical values range from 0.8 to 2.0.