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

#include <opencv2/cudastereo.hpp>

Inheritance diagram for cv::cuda::StereoBeliefPropagation:

Public Member Functions
virtual void	compute (InputArray left, InputArray right, OutputArray disparity, Stream &stream)=0

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 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

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.

void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
	simplified API for language bindingsThis is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

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 ).

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 inFelzenszwalb2006 . 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, seeFelzenszwalb2006 .

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

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.

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.

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 ).

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

pure virtual

data weight

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

pure virtual

discontinuity single jump

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

pure virtual

truncation of data cost

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

pure virtual

truncation of discontinuity cost

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

pure virtual

type for messages (CV_16SC1 or CV_32FC1)

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

pure virtual

number of BP iterations on each level

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

pure virtual

number of levels

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

pure virtual

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

pure virtual

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

pure virtual

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

pure virtual

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

pure virtual

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

pure virtual

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

pure virtual

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

cudastereo.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation