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

#include "calib3d.hpp"

Inheritance diagram for cv::StereoBM:

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Collaboration diagram for cv::StereoBM:

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Public Types
enum	{ DISP_SHIFT = 4, DISP_SCALE = (1 << DISP_SHIFT) }

enum	{ PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1 }

Public Member Functions
virtual void	clear ()
	Clears the algorithm state. More...

virtual void	compute (InputArray left, InputArray right, OutputArray disparity)=0
	Computes disparity map for the specified stereo pair. More...

virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. More...

virtual int	getBlockSize () const =0

virtual String	getDefaultName () const
	Returns the algorithm string identifier. More...

virtual int	getDisp12MaxDiff () const =0

virtual int	getMinDisparity () const =0

virtual int	getNumDisparities () const =0

virtual int	getPreFilterCap () const =0

virtual int	getPreFilterSize () const =0

virtual int	getPreFilterType () const =0

virtual Rect	getROI1 () const =0

virtual Rect	getROI2 () const =0

virtual int	getSmallerBlockSize () const =0

virtual int	getSpeckleRange () const =0

virtual int	getSpeckleWindowSize () const =0

virtual int	getTextureThreshold () const =0

virtual int	getUniquenessRatio () const =0

virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage. More...

virtual void	save (const String &filename) const
	Saves the algorithm to a file. More...

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	setPreFilterCap (int preFilterCap)=0

virtual void	setPreFilterSize (int preFilterSize)=0

virtual void	setPreFilterType (int preFilterType)=0

virtual void	setROI1 (Rect roi1)=0

virtual void	setROI2 (Rect roi2)=0

virtual void	setSmallerBlockSize (int blockSize)=0

virtual void	setSpeckleRange (int speckleRange)=0

virtual void	setSpeckleWindowSize (int speckleWindowSize)=0

virtual void	setTextureThreshold (int textureThreshold)=0

virtual void	setUniquenessRatio (int uniquenessRatio)=0

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

Static Public Member Functions
static Ptr< StereoBM >	create (int numDisparities=0, int blockSize=21)
	Creates StereoBM object. More...

template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file. More...

template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String. More...

template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node. More...

Protected Member Functions
void	writeFormat (FileStorage &fs) const

Detailed Description

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

Konolige.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
DISP_SHIFT
DISP_SCALE

anonymous enum

Enumerator
PREFILTER_NORMALIZED_RESPONSE
PREFILTER_XSOBEL

Member Function Documentation

virtual void cv::Algorithm::clear ( )

inlinevirtualinherited

Clears the algorithm state.

Reimplemented in cv::FlannBasedMatcher, cv::DescriptorMatcher, and cv::cuda::DescriptorMatcher.

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

pure virtualinherited

Computes disparity map for the specified stereo pair.

Parameters

left	Left 8-bit 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. Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map.

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

static

Creates StereoBM object.

Parameters

numDisparities	the disparity search range. For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can then be shifted by changing the minimum disparity.
blockSize	the linear size of the blocks compared by the algorithm. The size should be odd (as the block is centered at the current pixel). Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher chance for algorithm to find a wrong correspondence.

The function create StereoBM object. You can then call StereoBM::compute() to compute disparity for a specific stereo pair.

virtual bool cv::Algorithm::empty ( ) const

inlinevirtualinherited

Returns true if the Algorithm is empty (e.g.

in the very beginning or after unsuccessful read

Reimplemented in cv::DescriptorMatcher, cv::ml::StatModel, cv::Feature2D, cv::BaseCascadeClassifier, and cv::cuda::DescriptorMatcher.

virtual int cv::StereoMatcher::getBlockSize ( ) const

pure virtualinherited

virtual String cv::Algorithm::getDefaultName ( ) const

virtualinherited

Returns the algorithm string identifier.

This string is used as top level xml/yml node tag when the object is saved to a file or string.

virtual int cv::StereoMatcher::getDisp12MaxDiff ( ) const

pure virtualinherited

virtual int cv::StereoMatcher::getMinDisparity ( ) const

pure virtualinherited

virtual int cv::StereoMatcher::getNumDisparities ( ) const

pure virtualinherited

virtual int cv::StereoBM::getPreFilterCap ( ) const

pure virtual

virtual int cv::StereoBM::getPreFilterSize ( ) const

pure virtual

virtual int cv::StereoBM::getPreFilterType ( ) const

pure virtual

virtual Rect cv::StereoBM::getROI1 ( ) const

pure virtual

virtual Rect cv::StereoBM::getROI2 ( ) const

pure virtual

virtual int cv::StereoBM::getSmallerBlockSize ( ) const

pure virtual

virtual int cv::StereoMatcher::getSpeckleRange ( ) const

pure virtualinherited

virtual int cv::StereoMatcher::getSpeckleWindowSize ( ) const

pure virtualinherited

virtual int cv::StereoBM::getTextureThreshold ( ) const

pure virtual

virtual int cv::StereoBM::getUniquenessRatio ( ) const

pure virtual

template<typename _Tp >

static Ptr<_Tp> cv::Algorithm::load	(	const String &	filename,
		const String &	objname = `String()`
	)

inlinestaticinherited

Loads algorithm from the file.

Parameters

filename	Name of the file to read.
objname	The optional name of the node to read (if empty, the first top-level node will be used)

This is static template method of Algorithm. It's usage is following (in the case of SVM):

Ptr<SVM> svm = Algorithm::load<SVM>("my_svm_model.xml");

In order to make this method work, the derived class must overwrite Algorithm::read(const FileNode& fn).

References cv::Ptr< T >::empty(), cv::FileNode::empty(), cv::FileStorage::getFirstTopLevelNode(), and cv::FileStorage::READ.

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template<typename _Tp >

static Ptr<_Tp> cv::Algorithm::loadFromString	(	const String &	strModel,
		const String &	objname = `String()`
	)

inlinestaticinherited

Loads algorithm from a String.

Parameters

strModel	The string variable containing the model you want to load.
objname	The optional name of the node to read (if empty, the first top-level node will be used)

This is static template method of Algorithm. It's usage is following (in the case of SVM):

Ptr<SVM> svm = Algorithm::loadFromString<SVM>(myStringModel);

References CV_WRAP, cv::Ptr< T >::empty(), cv::FileNode::empty(), cv::FileStorage::getFirstTopLevelNode(), cv::FileStorage::MEMORY, and cv::FileStorage::READ.

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virtual void cv::Algorithm::read ( const FileNode & fn )

inlinevirtualinherited

Reads algorithm parameters from a file storage.

Reimplemented in cv::FlannBasedMatcher, cv::DescriptorMatcher, and cv::Feature2D.

template<typename _Tp >

static Ptr<_Tp> cv::Algorithm::read ( const FileNode & fn )

inlinestaticinherited

Reads algorithm from the file node.

This is static template method of Algorithm. It's usage is following (in the case of SVM):

cv::FileStorage fsRead("example.xml", FileStorage::READ);

Ptr<SVM> svm = Algorithm::read<SVM>(fsRead.root());

In order to make this method work, the derived class must overwrite Algorithm::read(const FileNode& fn) and also have static create() method without parameters (or with all the optional parameters)

References cv::Ptr< T >::empty().

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virtual void cv::Algorithm::save ( const String & filename ) const

virtualinherited

Saves the algorithm to a file.

In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).

virtual void cv::StereoMatcher::setBlockSize ( int blockSize )

pure virtualinherited

virtual void cv::StereoMatcher::setDisp12MaxDiff ( int disp12MaxDiff )

pure virtualinherited

virtual void cv::StereoMatcher::setMinDisparity ( int minDisparity )

pure virtualinherited

virtual void cv::StereoMatcher::setNumDisparities ( int numDisparities )

pure virtualinherited

virtual void cv::StereoBM::setPreFilterCap ( int preFilterCap )

pure virtual

virtual void cv::StereoBM::setPreFilterSize ( int preFilterSize )

pure virtual

virtual void cv::StereoBM::setPreFilterType ( int preFilterType )

pure virtual

virtual void cv::StereoBM::setROI1 ( Rect roi1 )

pure virtual

virtual void cv::StereoBM::setROI2 ( Rect roi2 )

pure virtual

virtual void cv::StereoBM::setSmallerBlockSize ( int blockSize )

pure virtual

virtual void cv::StereoMatcher::setSpeckleRange ( int speckleRange )

pure virtualinherited

virtual void cv::StereoMatcher::setSpeckleWindowSize ( int speckleWindowSize )

pure virtualinherited

virtual void cv::StereoBM::setTextureThreshold ( int textureThreshold )

pure virtual

virtual void cv::StereoBM::setUniquenessRatio ( int uniquenessRatio )

pure virtual

virtual void cv::Algorithm::write ( FileStorage & fs ) const

inlinevirtualinherited

Stores algorithm parameters in a file storage.

Reimplemented in cv::FlannBasedMatcher, cv::DescriptorMatcher, and cv::Feature2D.

void cv::Algorithm::writeFormat ( FileStorage & fs ) const

protectedinherited

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

calib3d/include/opencv2/calib3d.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation