OpenCV  3.2.0-dev
Open Source Computer Vision
cv::cuda::StereoBeliefPropagation Class Referenceabstract

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
dataUser-specified data cost, a matrix of msg_type type and Size(<image columns>*ndisp, <image rows>) size.
disparityOutput 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.
streamStream 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
leftLeft 8-bit single-channel image.
rightRight image of the same size and the same type as the left one.
disparityOutput 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
filenameName of the file to read.
objnameThe 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
strModelThe string variable containing the model you want to load.
objnameThe 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::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: