opencv2/stereo.hpp

#include <opencv2/core.hpp>

Include dependency graph for stereo.hpp:

This graph shows which files directly or indirectly include stereo.hpp:

Classes

class cv::StereoBM

Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige. More…

class cv::StereoMatcher

The base class for stereo correspondence algorithms. More…

class cv::StereoSGBM

The class implements the modified H. Hirschmuller algorithm [141] that differs from the original one as follows: More…

Namespaces

namespace cv

namespace cv::fisheye

Enumerations

enum cv::StereoMatcher {
DISP_SHIFT = 4,
DISP_SCALE = (1 << DISP_SHIFT)
}

enum cv::StereoBM {
PREFILTER_NORMALIZED_RESPONSE = 0,
PREFILTER_XSOBEL = 1
}

enum cv::StereoSGBM {
MODE_SGBM = 0,
MODE_HH = 1,
MODE_SGBM_3WAY = 2,
MODE_HH4 = 3
}

Functions

void cv::StereoMatcher::compute (InputArray left, InputArray right, OutputArray disparity)=0

Computes disparity map for the specified stereo pair.

static Ptr< StereoBM > cv::StereoBM::create (int numDisparities=0, int blockSize=21)

Creates StereoBM object.

static Ptr< StereoSGBM > cv::StereoSGBM::create (int minDisparity=0, int numDisparities=16, int blockSize=3, int P1=0, int P2=0, int disp12MaxDiff=0, int preFilterCap=0, int uniquenessRatio=0, int speckleWindowSize=0, int speckleRange=0, int mode=StereoSGBM::MODE_SGBM)

Creates StereoSGBM object.

void cv::filterSpeckles (InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff, InputOutputArray buf=noArray())

Filters off small noise blobs (speckles) in the disparity map.

int cv::StereoMatcher::getBlockSize () const =0

int cv::StereoMatcher::getDisp12MaxDiff () const =0

int cv::StereoMatcher::getMinDisparity () const =0

int cv::StereoSGBM::getMode () const =0

int cv::StereoMatcher::getNumDisparities () const =0

int cv::StereoSGBM::getP1 () const =0

int cv::StereoSGBM::getP2 () const =0

int cv::StereoBM::getPreFilterCap () const =0

int cv::StereoSGBM::getPreFilterCap () const =0

int cv::StereoBM::getPreFilterSize () const =0

int cv::StereoBM::getPreFilterType () const =0

Rect cv::StereoBM::getROI1 () const =0

Rect cv::StereoBM::getROI2 () const =0

int cv::StereoBM::getSmallerBlockSize () const =0

int cv::StereoMatcher::getSpeckleRange () const =0

int cv::StereoMatcher::getSpeckleWindowSize () const =0

int cv::StereoBM::getTextureThreshold () const =0

int cv::StereoBM::getUniquenessRatio () const =0

int cv::StereoSGBM::getUniquenessRatio () const =0

Rect cv::getValidDisparityROI (Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int blockSize)

computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by stereoRectify)

float cv::rectify3Collinear (InputArray _cameraMatrix1, InputArray _distCoeffs1, InputArray _cameraMatrix2, InputArray _distCoeffs2, InputArray _cameraMatrix3, InputArray _distCoeffs3, InputArrayOfArrays _imgpt1, InputArrayOfArrays _imgpt3, Size imageSize, InputArray _Rmat12, InputArray _Tmat12, InputArray _Rmat13, InputArray _Tmat13, OutputArray _Rmat1, OutputArray _Rmat2, OutputArray _Rmat3, OutputArray _Pmat1, OutputArray _Pmat2, OutputArray _Pmat3, OutputArray _Qmat, double alpha, Size newImgSize, Rect *roi1, Rect *roi2, int flags)

void cv::reprojectImageTo3D (InputArray disparity, OutputArray _3dImage, InputArray Q, bool handleMissingValues=false, int ddepth=-1)

Reprojects a disparity image to 3D space.

void cv::StereoMatcher::setBlockSize (int blockSize)=0

void cv::StereoMatcher::setDisp12MaxDiff (int disp12MaxDiff)=0

void cv::StereoMatcher::setMinDisparity (int minDisparity)=0

void cv::StereoSGBM::setMode (int mode)=0

void cv::StereoMatcher::setNumDisparities (int numDisparities)=0

void cv::StereoSGBM::setP1 (int P1)=0

void cv::StereoSGBM::setP2 (int P2)=0

void cv::StereoBM::setPreFilterCap (int preFilterCap)=0

void cv::StereoSGBM::setPreFilterCap (int preFilterCap)=0

void cv::StereoBM::setPreFilterSize (int preFilterSize)=0

void cv::StereoBM::setPreFilterType (int preFilterType)=0

void cv::StereoBM::setROI1 (Rect roi1)=0

void cv::StereoBM::setROI2 (Rect roi2)=0

void cv::StereoBM::setSmallerBlockSize (int blockSize)=0

void cv::StereoMatcher::setSpeckleRange (int speckleRange)=0

void cv::StereoMatcher::setSpeckleWindowSize (int speckleWindowSize)=0

void cv::StereoBM::setTextureThreshold (int textureThreshold)=0

void cv::StereoBM::setUniquenessRatio (int uniquenessRatio)=0

void cv::StereoSGBM::setUniquenessRatio (int uniquenessRatio)=0

void cv::fisheye::stereoRectify (InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize=Size(), double balance=0.0, double fov_scale=1.0)

Stereo rectification for fisheye camera model.

void cv::stereoRectify (InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, Size imageSize, InputArray R, InputArray T, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags=STEREO_ZERO_DISPARITY, double alpha=-1, Size newImageSize=Size(), Rect *validPixROI1=0, Rect *validPixROI2=0)

Computes rectification transforms for each head of a calibrated stereo camera.

bool cv::stereoRectifyUncalibrated (InputArray points1, InputArray points2, InputArray F, Size imgSize, OutputArray H1, OutputArray H2, double threshold=5)

Computes a rectification transform for an uncalibrated stereo camera.

void cv::validateDisparity (InputOutputArray disparity, InputArray cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp=1)

validates disparity using the left-right check. The matrix “cost” should be computed by the stereo correspondence algorithm