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

#include "cudastereo.hpp"

Inheritance diagram for cv::cuda::StereoBeliefPropagation:

Collaboration diagram for cv::cuda::StereoBeliefPropagation:

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

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

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. 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 double	getDataWeight () const =0
	data weight More...

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

virtual double	getDiscSingleJump () const =0
	discontinuity single jump More...

virtual int	getDisp12MaxDiff () const =0

virtual double	getMaxDataTerm () const =0
	truncation of data cost More...

virtual double	getMaxDiscTerm () const =0
	truncation of discontinuity cost More...

virtual int	getMinDisparity () const =0

virtual int	getMsgType () const =0
	type for messages (CV_16SC1 or CV_32FC1) More...

virtual int	getNumDisparities () const =0

virtual int	getNumIters () const =0
	number of BP iterations on each level More...

virtual int	getNumLevels () const =0
	number of levels More...

virtual int	getSpeckleRange () const =0

virtual int	getSpeckleWindowSize () 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	setDataWeight (double data_weight)=0

virtual void	setDiscSingleJump (double disc_single_jump)=0

virtual void	setDisp12MaxDiff (int disp12MaxDiff)=0

virtual void	setMaxDataTerm (double max_data_term)=0

virtual void	setMaxDiscTerm (double max_disc_term)=0

virtual void	setMinDisparity (int minDisparity)=0

virtual void	setMsgType (int msg_type)=0

virtual void	setNumDisparities (int numDisparities)=0

virtual void	setNumIters (int iters)=0

virtual void	setNumLevels (int levels)=0

virtual void	setSpeckleRange (int speckleRange)=0

virtual void	setSpeckleWindowSize (int speckleWindowSize)=0

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

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 ). 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 computing stereo correspondence using the belief propagation algorithm.

:

The class implements algorithm described in [26] . 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, see [26] .

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 Enumeration Documentation

anonymous enum

inherited

Enumerator
DISP_SHIFT
DISP_SCALE

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::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.

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.

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.

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 int cv::StereoMatcher::getBlockSize ( ) const

pure virtualinherited

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

pure virtual

data weight

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

pure virtual

discontinuity single jump

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

pure virtualinherited

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::StereoMatcher::getMinDisparity ( ) const

pure virtualinherited

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

pure virtual

type for messages (CV_16SC1 or CV_32FC1)

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

pure virtualinherited

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 int cv::StereoMatcher::getSpeckleRange ( ) const

pure virtualinherited

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

pure virtualinherited

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.

Here is the call graph for this function:

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.

Here is the call graph for this function:

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().

Here is the call graph for this function:

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::cuda::StereoBeliefPropagation::setDataWeight ( double data_weight )

pure virtual

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

pure virtual

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

pure virtualinherited

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::StereoMatcher::setMinDisparity ( int minDisparity )

pure virtualinherited

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

pure virtual

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

pure virtualinherited

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

pure virtual

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

pure virtual

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

pure virtualinherited

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

pure virtualinherited

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:

cudastereo/include/opencv2/cudastereo.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation