Purpose: updated the last section of chapter 10
This commit is contained in:
Elena Fedotova
parent
5291b9dfe5
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05173022bb
@ -1,4 +1,4 @@
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Camera Calibration and 3d Reconstruction
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Camera Calibration and 3D Reconstruction
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========================================
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.. highlight:: cpp
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@ -9,7 +9,8 @@ gpu::StereoBM_GPU
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-----------------
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.. cpp:class:: gpu::StereoBM_GPU
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The class for computing stereo correspondence using block matching algorithm. ::
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This class computes stereo correspondence (disparity map) using the block matching algorithm.
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::
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class StereoBM_GPU
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{
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@ -39,30 +40,30 @@ The class for computing stereo correspondence using block matching algorithm. ::
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};
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This class computes the disparity map using block matching algorithm. The class also performs pre- and post- filtering steps: sobel prefiltering (if ``PREFILTER_XSOBEL`` flag is set) and low textureness filtering (if ``averageTexThreshols > 0``). If ``avergeTexThreshold = 0``, low textureness filtering is disabled, otherwise the disparity is set to 0 in each point ``(x, y)``, where for the left image
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The class also performs pre- and post-filtering steps: Sobel pre-filtering (if ``PREFILTER_XSOBEL`` flag is set) and low textureness filtering (if ``averageTexThreshols > 0``). If ``avergeTexThreshold = 0``, low textureness filtering is disabled. Otherwise, the disparity is set to 0 in each point ``(x, y)``, where for the left image
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.. math::
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\sum HorizontalGradiensInWindow(x, y, winSize) < (winSize \cdot winSize) \cdot avergeTexThreshold
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i.e. input left image is low textured.
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This means that the input left image is low textured.
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.. index:: gpu::StereoBM_GPU::StereoBM_GPU
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gpu::StereoBM_GPU::StereoBM_GPU
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-----------------------------------_
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-----------------------------------
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.. cpp:function:: gpu::StereoBM_GPU::StereoBM_GPU()
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.. cpp:function:: gpu::StereoBM_GPU::StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ)
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``StereoBM_GPU`` constructors.
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Enables ``StereoBM_GPU`` constructors.
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:param preset: Preset:
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* **BASIC_PRESET** Without preprocessing.
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* **BASIC_PRESET** Basic mode without pre-processing.
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* **PREFILTER_XSOBEL** Sobel prefilter.
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* **PREFILTER_XSOBEL** Sobel pre-filtering mode.
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:param ndisparities: Number of disparities. Must be a multiple of 8 and less or equal then 256.
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:param ndisparities: Number of disparities. It must be a multiple of 8 and less or equal to 256.
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:param winSize: Block size.
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@ -76,13 +77,13 @@ gpu::StereoBM_GPU::operator ()
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.. cpp:function:: void gpu::StereoBM_GPU::operator() (const GpuMat& left, const GpuMat& right, GpuMat& disparity, const Stream& stream)
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The stereo correspondence operator. Finds the disparity for the specified rectified stereo pair.
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Enables the stereo correspondence operator that finds the disparity for the specified rectified stereo pair.
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:param left: Left image; supports only ``CV_8UC1`` type.
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:param left: Left image. Only ``CV_8UC1`` type is supported.
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:param right: Right image with the same size and the same type as the left one.
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:param disparity: Output disparity map. It will be ``CV_8UC1`` image with the same size as the input images.
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:param disparity: Output disparity map. It is a ``CV_8UC1`` image with the same size as the input images.
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:param stream: Stream for the asynchronous version.
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@ -92,7 +93,7 @@ gpu::StereoBM_GPU::checkIfGpuCallReasonable
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-----------------------------------------------
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.. cpp:function:: bool gpu::StereoBM_GPU::checkIfGpuCallReasonable()
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Some heuristics that tries to estmate if the current GPU will be faster then CPU in this algorithm. It queries current active device.
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Uses a heuristic method to estimate whether the current GPU is faster than the CPU in this algorithm. It queries the currently active device.
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.. index:: gpu::StereoBeliefPropagation
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@ -100,7 +101,7 @@ gpu::StereoBeliefPropagation
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----------------------------
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.. cpp:class:: gpu::StereoBeliefPropagation
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The class for computing stereo correspondence using belief propagation algorithm. ::
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This class computes stereo correspondence using the belief propagation algorithm. ::
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class StereoBeliefPropagation
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{
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@ -143,21 +144,21 @@ The class for computing stereo correspondence using belief propagation algorithm
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...
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};
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The class implements Pedro F. Felzenszwalb algorithm [Pedro F. Felzenszwalb and Daniel P. Huttenlocher. Efficient belief propagation for early vision. International Journal of Computer Vision, 70(1), October 2006]. It can compute own data cost (using truncated linear model) or use user-provided data cost.
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The class implements Pedro F. Felzenszwalb algorithm [Pedro F. Felzenszwalb and Daniel P. Huttenlocher. Efficient belief propagation for early vision. International Journal of Computer Vision, 70(1), October 2006]. It can compute own data cost (using a truncated linear model) or use a user-provided data cost.
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**Note:** ``StereoBeliefPropagation`` requires a lot of memory:
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**Note:** ``StereoBeliefPropagation`` requires a lot of memory for message storage:
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.. math::
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width \_ step \cdot height \cdot ndisp \cdot 4 \cdot (1 + 0.25)
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for message storage and
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and for data cost storage:
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.. math::
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width\_step \cdot height \cdot ndisp \cdot (1 + 0.25 + 0.0625 + \dotsm + \frac{1}{4^{levels}})
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for data cost storage. ``width_step`` is the number of bytes in a line including the padding.
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``width_step`` is the number of bytes in a line including padding.
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.. index:: gpu::StereoBeliefPropagation::StereoBeliefPropagation
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@ -167,7 +168,7 @@ gpu::StereoBeliefPropagation::StereoBeliefPropagation
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.. cpp:function:: gpu::StereoBeliefPropagation::StereoBeliefPropagation( int ndisp, int iters, int levels, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int msg_type = CV_32F)
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StereoBeliefPropagation constructors.
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Enables the ``StereoBeliefPropagation`` constructors.
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:param ndisp: Number of disparities.
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@ -183,9 +184,9 @@ gpu::StereoBeliefPropagation::StereoBeliefPropagation
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:param disc_single_jump: Discontinuity single jump.
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:param msg_type: Type for messages. Supports ``CV_16SC1`` and ``CV_32FC1``.
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:param msg_type: Type for messages. ``CV_16SC1`` and ``CV_32FC1`` types are supported.
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``StereoBeliefPropagation`` uses truncated linear model for the data cost and discontinuity term:
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``StereoBeliefPropagation`` uses a truncated linear model for the data cost and discontinuity terms:
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.. math::
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@ -195,9 +196,9 @@ gpu::StereoBeliefPropagation::StereoBeliefPropagation
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DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)
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For more details please see [Pedro F. Felzenszwalb and Daniel P. Huttenlocher. Efficient belief propagation for early vision. International Journal of Computer Vision, 70(1), October 2006].
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For more details, see [Pedro F. Felzenszwalb and Daniel P. Huttenlocher. Efficient belief propagation for early vision. International Journal of Computer Vision, 70(1), October 2006].
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By default, :cpp:class:`StereoBeliefPropagation` uses floating-point arithmetics and ``CV_32FC1`` type for messages. But also it can use fixed-point arithmetics and ``CV_16SC1`` type for messages for better performance. To avoid overflow in this case, the parameters must satisfy
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By default, :cpp:class:`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:
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.. math::
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@ -210,7 +211,7 @@ gpu::StereoBeliefPropagation::estimateRecommendedParams
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.. cpp:function:: void gpu::StereoBeliefPropagation::estimateRecommendedParams( int width, int height, int& ndisp, int& iters, int& levels)
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Some heuristics that tries to compute recommended parameters (``ndisp``, ``iters`` and ``levels``) for specified image size (``width`` and ``height``).
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Uses a heuristic method to compute the recommended parameters (``ndisp``, ``iters`` and ``levels``) for the specified image size (``width`` and ``height``).
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.. index:: gpu::StereoBeliefPropagation::operator ()
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@ -220,13 +221,13 @@ gpu::StereoBeliefPropagation::operator ()
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.. cpp:function:: void gpu::StereoBeliefPropagation::operator()( const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream)
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The stereo correspondence operator. Finds the disparity for the specified rectified stereo pair or data cost.
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Enables the stereo correspondence operator that finds the disparity for the specified rectified stereo pair or data cost.
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:param left: Left image; supports ``CV_8UC1`` , ``CV_8UC3`` and ``CV_8UC4`` types.
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:param left: Left image. ``CV_8UC1`` , ``CV_8UC3`` and ``CV_8UC4`` types are supported.
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:param right: Right image with the same size and the same type as the left one.
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:param disparity: Output disparity map. If ``disparity`` is empty output type will be ``CV_16SC1`` , otherwise output type will be ``disparity.type()`` .
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:param disparity: Output disparity map. If ``disparity`` is empty, the output type is ``CV_16SC1`` . Otherwise, the output type is ``disparity.type()`` .
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:param stream: Stream for the asynchronous version.
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@ -234,9 +235,9 @@ gpu::StereoBeliefPropagation::operator ()
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.. cpp:function:: void gpu::StereoBeliefPropagation::operator()( const GpuMat& data, GpuMat& disparity, Stream& stream)
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:param data: The user specified data cost, a matrix of ``msg_type`` type and ``Size(<image columns>*ndisp, <image rows>)`` size.
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:param data: The user-specified data cost, a matrix of ``msg_type`` type and ``Size(<image columns>*ndisp, <image rows>)`` size.
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:param disparity: Output disparity map. If the matrix is empty, it will be created as ``CV_16SC1`` matrix, otherwise the type will be retained.
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:param disparity: Output disparity map. If the matrix is empty, it is created as the ``CV_16SC1`` matrix. Otherwise, the type is retained.
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:param stream: Stream for the asynchronous version.
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@ -246,7 +247,7 @@ gpu::StereoConstantSpaceBP
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--------------------------
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.. cpp:class:: gpu::StereoConstantSpaceBP
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The class for computing stereo correspondence using constant space belief propagation algorithm. ::
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This class computes stereo correspondence using the constant space belief propagation algorithm. ::
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class StereoConstantSpaceBP
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{
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@ -297,7 +298,7 @@ The class for computing stereo correspondence using constant space belief propag
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};
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The class implements Q. Yang algorithm [Q. Yang, L. Wang, and N. Ahuja. A constant-space belief propagation algorithm for stereo matching. In CVPR, 2010]. ``StereoConstantSpaceBP`` supports both local minimum and global minimum data cost initialization algortihms. For more details please see the paper. By default local algorithm is used, and to enable global algorithm set ``use_local_init_data_cost`` to false.
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The class implements Q. Yang algorithm [Q. Yang, L. Wang, and N. Ahuja. A constant-space belief propagation algorithm for stereo matching. In CVPR, 2010]. ``StereoConstantSpaceBP`` supports both local minimum and global minimum data cost initialization algortihms. For more details, see the paper. By default, a local algorithm is used. To enable a global algorithm, set ``use_local_init_data_cost`` to ``false``.
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.. index:: gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
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@ -307,7 +308,7 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
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.. cpp:function:: StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th = 0, int msg_type = CV_32F)
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StereoConstantSpaceBP constructors.
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Enables the StereoConstantSpaceBP constructors.
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:param ndisp: Number of disparities.
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@ -315,7 +316,7 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
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:param levels: Number of levels.
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:param nr_plane: Number of disparity levels on the first level
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:param nr_plane: Number of disparity levels on the first level.
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:param max_data_term: Truncation of data cost.
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@ -327,9 +328,9 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
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:param min_disp_th: Minimal disparity threshold.
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:param msg_type: Type for messages. Supports ``CV_16SC1`` and ``CV_32FC1`` .
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:param msg_type: Type for messages. ``CV_16SC1`` and ``CV_32FC1`` types are supported.
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``StereoConstantSpaceBP`` uses truncated linear model for the data cost and discontinuity term:
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``StereoConstantSpaceBP`` uses a truncated linear model for the data cost and discontinuity terms:
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.. math::
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@ -339,11 +340,11 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
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DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)
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For more details please see
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qx_csbp
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For more details, see
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qx_csbp ??
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.
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By default ``StereoConstantSpaceBP`` uses floating-point arithmetics and ``CV_32FC1`` type for messages. But also it can use fixed-point arithmetics and ``CV_16SC1`` type for messages for better perfomance. To avoid overflow in this case, the parameters must satisfy
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By default, ``StereoConstantSpaceBP`` 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 perfomance. To avoid an overflow in this case, the parameters must satisfy the following requirement:
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.. math::
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@ -356,7 +357,7 @@ gpu::StereoConstantSpaceBP::estimateRecommendedParams
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.. cpp:function:: void gpu::StereoConstantSpaceBP::estimateRecommendedParams( int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane)
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Some heuristics that tries to compute parameters (ndisp, iters, levelsand nrplane) for specified image size (widthand height).
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Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified image size (widthand height).
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.. index:: gpu::StereoConstantSpaceBP::operator ()
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@ -366,13 +367,13 @@ gpu::StereoConstantSpaceBP::operator ()
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.. cpp:function:: void gpu::StereoConstantSpaceBP::operator()( const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream)
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The stereo correspondence operator. Finds the disparity for the specified rectified stereo pair.
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Enables the stereo correspondence operator that finds the disparity for the specified rectified stereo pair.
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:param left: Left image; supports ``CV_8UC1`` , ``CV_8UC3`` and ``CV_8UC4`` types.
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:param left: Left image. ``CV_8UC1`` , ``CV_8UC3`` and ``CV_8UC4`` types are supported.
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:param right: Right image with the same size and the same type as the left one.
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:param disparity: Output disparity map. If ``disparity`` is empty output type will be ``CV_16SC1`` , otherwise output type will be ``disparity.type()`` .
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:param disparity: Output disparity map. If ``disparity`` is empty, the output type is ``CV_16SC1`` . Otherwise, the output type is ``disparity.type()`` .
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:param stream: Stream for the asynchronous version.
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@ -384,7 +385,7 @@ gpu::DisparityBilateralFilter
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-----------------------------
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.. cpp:class:: gpu::DisparityBilateralFilter
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The class for disparity map refinement using joint bilateral filtering. ::
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This class refines a disparity map using joint bilateral filtering. ::
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class CV_EXPORTS DisparityBilateralFilter
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{
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@ -419,7 +420,7 @@ gpu::DisparityBilateralFilter::DisparityBilateralFilter
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.. cpp:function:: gpu::DisparityBilateralFilter::DisparityBilateralFilter( int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, float sigma_range)
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``DisparityBilateralFilter`` constructors.
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Enables the ``DisparityBilateralFilter`` constructors.
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:param ndisp: Number of disparities.
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@ -441,13 +442,13 @@ gpu::DisparityBilateralFilter::operator ()
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.. cpp:function:: void gpu::DisparityBilateralFilter::operator()( const GpuMat& disparity, const GpuMat& image, GpuMat& dst, Stream& stream)
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Refines disparity map using joint bilateral filtering.
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Refines a disparity map using joint bilateral filtering.
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:param disparity: Input disparity map; supports ``CV_8UC1`` and ``CV_16SC1`` types.
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:param disparity: Input disparity map. ``CV_8UC1`` and ``CV_16SC1`` types are supported.
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:param image: Input image; supports ``CV_8UC1`` and ``CV_8UC3`` types.
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:param image: Input image. ``CV_8UC1`` and ``CV_8UC3`` types are supported.
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:param dst: Destination disparity map; will have the same size and type as ``disparity`` .
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:param dst: Destination disparity map. It has the same size and type as ``disparity`` .
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:param stream: Stream for the asynchronous version.
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@ -459,17 +460,17 @@ gpu::drawColorDisp
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.. cpp:function:: void gpu::drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, const Stream& stream)
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Does coloring of disparity image.
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Colors a disparity image.
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:param src_disp: Source disparity image. Supports ``CV_8UC1`` and ``CV_16SC1`` types.
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:param src_disp: Source disparity image. ``CV_8UC1`` and ``CV_16SC1`` types are supported.
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:param dst_disp: Output disparity image. Will have the same size as ``src_disp`` and ``CV_8UC4`` type in ``BGRA`` format (alpha = 255).
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:param dst_disp: Output disparity image. It has the same size as ``src_disp`` . The type is ``CV_8UC4`` in ``BGRA`` format (alpha = 255).
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:param ndisp: Number of disparities.
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:param stream: Stream for the asynchronous version.
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This function draws a colorized disparity map by converting disparity values from ``[0..ndisp)`` interval first to ``HSV`` color space (where different disparity values correspond to different hues) and then converting the pixels to ``RGB`` for visualization.
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This function draws a colored disparity map by converting disparity values from ``[0..ndisp)`` interval first to ``HSV`` color space (where different disparity values correspond to different hues) and then converting the pixels to ``RGB`` for visualization.
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.. index:: gpu::reprojectImageTo3D
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@ -479,11 +480,11 @@ gpu::reprojectImageTo3D
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.. cpp:function:: void gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const Stream& stream)
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Reprojects disparity image to 3D space.
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Reprojects a disparity image to 3D space.
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:param disp: Input disparity image; supports ``CV_8U`` and ``CV_16S`` types.
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:param disp: Input disparity image. ``CV_8U`` and ``CV_16S`` types are supported.
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:param xyzw: Output 4-channel floating-point image of the same size as ``disp`` . Each element of ``xyzw(x,y)`` will contain the 3D coordinates ``(x,y,z,1)`` of the point ``(x,y)`` , computed from the disparity map.
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:param xyzw: Output 4-channel floating-point image of the same size as ``disp`` . Each element of ``xyzw(x,y)`` contains 3D coordinates ``(x,y,z,1)`` of the point ``(x,y)`` , computed from the disparity map.
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:param Q: :math:`4 \times 4` perspective transformation matrix that can be obtained via :ref:`StereoRectify` .
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@ -498,7 +499,7 @@ gpu::solvePnPRansac
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.. cpp:function:: void gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat, const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false, int num_iters=100, float max_dist=8.0, int min_inlier_count=100, vector<int>* inliers=NULL)
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Finds the object pose from the 3D-2D point correspondences.
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Finds the object pose from 3D-2D point correspondences.
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:param object: Single-row matrix of object points.
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@ -512,13 +513,13 @@ gpu::solvePnPRansac
|
||||
|
||||
:param tvec: Output 3D translation vector.
|
||||
|
||||
:param use_extrinsic_guess: Indicates the function must use ``rvec`` and ``tvec`` as initial transformation guess. It isn't supported for now.
|
||||
:param use_extrinsic_guess: Flag to indicate that the function must use ``rvec`` and ``tvec`` as an initial transformation guess. It is not supported for now.
|
||||
|
||||
:param num_iters: Maximum number of RANSAC iterations.
|
||||
|
||||
:param max_dist: Euclidean distance threshold to detect whether point is inlier or not.
|
||||
|
||||
:param min_inlier_count: Indicates the function must stop if greater or equal number of inliers is achieved. It isn't supported for now.
|
||||
:param min_inlier_count: Flag to indicate that the function must stop if greater or equal number of inliers is achieved. It is not supported for now.
|
||||
|
||||
:param inliers: Output vector of inlier indices.
|
||||
|
||||
|
||||
@ -308,13 +308,13 @@ gpu::BruteForceMatcher_GPU::radiusMatch
|
||||
|
||||
:param queryDescs: Query set of descriptors.
|
||||
|
||||
:param trainDescs: Training set of descriptors.It is not added to train descriptors collection stored in the class object.
|
||||
:param trainDescs: Training set of descriptors. It is not added to train descriptors collection stored in the class object.
|
||||
|
||||
:param trainIdx: ``trainIdx.at<int>(i, j)`` is the index of j-th training descriptor which is close enough to i-th query descriptor. If ``trainIdx`` is empty, it is created with the size ``queryDescs.rows x trainDescs.rows``. When the matrix is pre-allocated, it can have less than ``trainDescs.rows`` columns. Then the function will return as many matches for each query descriptors as fit into the matrix.
|
||||
|
||||
:param nMatches: ``nMatches.at<unsigned int>(0, i)`` contains the number of matching descriptors for the i-th query descriptor. The value can be larger than ``trainIdx.cols`` - it means that the function could not store all the matches since it did not have enough memory.
|
||||
|
||||
:param distance: ``distance.at<int>(i, j)`` is the distance between the j-th match for the j-th query descriptor and the this very query descriptor. The matrix will have ``CV_32FC1`` type and the same size as ``trainIdx``.
|
||||
:param distance: ``distance.at<int>(i, j)`` Distance between the j-th match for the j-th query descriptor and this very query descriptor. The matrix has the ``CV_32FC1`` type and the same size as ``trainIdx``.
|
||||
|
||||
:param maxDistance: Distance threshold.
|
||||
|
||||
|
||||
@ -203,7 +203,7 @@ gpu::createBoxFilter_GPU
|
||||
|
||||
:param srcType: Input image type. Supports ``CV_8UC1`` and ``CV_8UC4``.
|
||||
|
||||
:param dstType: Output image type. Supports only the same as source type.
|
||||
:param dstType: Output image type. It supports only the same as the source type.
|
||||
|
||||
:param ksize: Kernel size.
|
||||
|
||||
@ -225,7 +225,7 @@ gpu::boxFilter
|
||||
|
||||
:param dst: Output image type. The size and type is the same as ``src``.
|
||||
|
||||
:param ddepth: Output image depth. If -1, the output image will have the same depth as the input one. The only values allowed here are ``CV_8U`` and -1.
|
||||
:param ddepth: Output image depth. If -1, the output image has the same depth as the input one. The only values allowed here are ``CV_8U`` and -1.
|
||||
|
||||
:param ksize: Kernel size.
|
||||
|
||||
@ -245,7 +245,7 @@ gpu::blur
|
||||
|
||||
:param src: Input image. ``CV_8UC1`` and ``CV_8UC4`` source types are supported.
|
||||
|
||||
:param dst: Output image type. The size and type is the same as ``src`` .
|
||||
:param dst: Output image type with the same size and type as ``src`` .
|
||||
|
||||
:param ksize: Kernel size.
|
||||
|
||||
@ -289,7 +289,7 @@ gpu::erode
|
||||
|
||||
:param src: Source image. Only ``CV_8UC1`` and ``CV_8UC4`` types are supported.
|
||||
|
||||
:param dst: Destination image. The size and type is the same as ``src`` .
|
||||
:param dst: Destination image with the same size and type as ``src`` .
|
||||
|
||||
:param kernel: Structuring element used for dilation. If ``kernel=Mat()``, a 3x3 rectangular structuring element is used.
|
||||
|
||||
@ -311,7 +311,7 @@ gpu::dilate
|
||||
|
||||
:param src: Source image. ``CV_8UC1`` and ``CV_8UC4`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and type is the same as ``src``.
|
||||
:param dst: Destination image with the same size and type as ``src``.
|
||||
|
||||
:param kernel: Structuring element used for dilation. If ``kernel=Mat()``, a 3x3 rectangular structuring element is used.
|
||||
|
||||
@ -333,7 +333,7 @@ gpu::morphologyEx
|
||||
|
||||
:param src: Source image. ``CV_8UC1`` and ``CV_8UC4`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and type is the same as ``src``
|
||||
:param dst: Destination image with the same size and type as ``src``
|
||||
|
||||
:param op: Type of morphological operation. The following types are possible:
|
||||
|
||||
@ -506,7 +506,7 @@ gpu::sepFilter2D
|
||||
|
||||
:param src: Source image. ``CV_8UC1``, ``CV_8UC4``, ``CV_16SC1``, ``CV_16SC2``, ``CV_32SC1``, ``CV_32FC1`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and number of channels is the same as ``src`` .
|
||||
:param dst: Destination image with the same size and number of channels as ``src`` .
|
||||
|
||||
:param ddepth: Destination image depth. ``CV_8U``, ``CV_16S``, ``CV_32S``, and ``CV_32F`` are supported.
|
||||
|
||||
@ -550,7 +550,7 @@ gpu::Sobel
|
||||
|
||||
:param src: Source image. ``CV_8UC1``, ``CV_8UC4``, ``CV_16SC1``, ``CV_16SC2``, ``CV_32SC1``, ``CV_32FC1`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and number of channels is the same as source image has.
|
||||
:param dst: Destination image with the same size and number of channels as source image.
|
||||
|
||||
:param ddepth: Destination image depth. ``CV_8U``, ``CV_16S``, ``CV_32S``, and ``CV_32F`` are supported.
|
||||
|
||||
@ -576,7 +576,7 @@ gpu::Scharr
|
||||
|
||||
:param src: Source image. ``CV_8UC1``, ``CV_8UC4``, ``CV_16SC1``, ``CV_16SC2``, ``CV_32SC1``, ``CV_32FC1`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and number of channels is the same as ``src`` has.
|
||||
:param dst: Destination image with the same size and number of channels as ``src`` has.
|
||||
|
||||
:param ddepth: Destination image depth. ``CV_8U``, ``CV_16S``, ``CV_32S``, and ``CV_32F`` are supported.
|
||||
|
||||
@ -620,7 +620,7 @@ gpu::GaussianBlur
|
||||
|
||||
:param src: Source image. ``CV_8UC1``, ``CV_8UC4``, ``CV_16SC1``, ``CV_16SC2``, ``CV_32SC1``, ``CV_32FC1`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size and type is the same as ``src`` has.
|
||||
:param dst: Destination image with the same size and type as ``src``.
|
||||
|
||||
:param ksize: Gaussian kernel size. ``ksize.width`` and ``ksize.height`` can differ but they both must be positive and odd. If they are zeros, they are computed from ``sigmaX`` and ``sigmaY`` .
|
||||
|
||||
|
||||
@ -16,7 +16,7 @@ gpu::meanShiftFiltering
|
||||
|
||||
:param src: Source image. Only ``CV_8UC4`` images are supported for now.
|
||||
|
||||
:param dst: Destination image containing the color of mapped points. The size and type is the same as ``src`` .
|
||||
:param dst: Destination image containing the color of mapped points. It has the same size and type as ``src`` .
|
||||
|
||||
:param sp: Spatial window radius.
|
||||
|
||||
@ -38,7 +38,7 @@ gpu::meanShiftProc
|
||||
|
||||
:param dstr: Destination image containing the color of mapped points. The size and type is the same as ``src`` .
|
||||
|
||||
:param dstsp: Destination image containing the position of mapped points. The size is the same as ``src``. The type is ``CV_16SC2``.
|
||||
:param dstsp: Destination image containing the position of mapped points. The size is the same as ``src`` size. The type is ``CV_16SC2``.
|
||||
|
||||
:param sp: Spatial window radius.
|
||||
|
||||
@ -59,7 +59,7 @@ gpu::meanShiftSegmentation
|
||||
|
||||
:param src: Source image. Only ``CV_8UC4`` images are supported for now.
|
||||
|
||||
:param dst: Segmented image. The size and type is the same as ``src`` .
|
||||
:param dst: Segmented image with the same size and type as ``src`` .
|
||||
|
||||
:param sp: Spatial window radius.
|
||||
|
||||
@ -172,7 +172,7 @@ gpu::mulSpectrums
|
||||
|
||||
:param a: First spectrum.
|
||||
|
||||
:param b: Second spectrum. The size and type is the same as ``a`` .
|
||||
:param b: Second spectrum with the same size and type as ``a`` .
|
||||
|
||||
:param c: Destination spectrum.
|
||||
|
||||
@ -196,7 +196,7 @@ gpu::mulAndScaleSpectrums
|
||||
|
||||
:param a: First spectrum.
|
||||
|
||||
:param b: Second spectrum. The size and type is the same as ``a`` .
|
||||
:param b: Second spectrum with the same size and type as ``a`` .
|
||||
|
||||
:param c: Destination spectrum.
|
||||
|
||||
@ -321,7 +321,7 @@ gpu::matchTemplate
|
||||
|
||||
:param image: Source image. ``CV_32F`` and ``CV_8U`` depth images (1..4 channels) are supported for now.
|
||||
|
||||
:param templ: Template image. The size and type is the same as ``image`` .
|
||||
:param templ: Template image with the size and type the same as ``image`` .
|
||||
|
||||
:param result: Map containing comparison results ( ``CV_32FC1`` ). If ``image`` is *W x H* and ``templ`` is *w x h*, then ``result`` must be *W-w+1 x H-h+1*.
|
||||
|
||||
@ -354,7 +354,7 @@ gpu::remap
|
||||
|
||||
:param src: Source image. Only ``CV_8UC1`` and ``CV_8UC3`` source types are supported.
|
||||
|
||||
:param dst: Destination image. The size is the same as ``xmap`` . The type is the same as ``src`` .
|
||||
:param dst: Destination image with the size the same as ``xmap`` and the type the same as ``src`` .
|
||||
|
||||
:param xmap: X values. Only ``CV_32FC1`` type is supported.
|
||||
|
||||
@ -382,7 +382,7 @@ gpu::cvtColor
|
||||
|
||||
:param src: Source image with ``CV_8U``, ``CV_16U``, or ``CV_32F`` depth and 1, 3, or 4 channels.
|
||||
|
||||
:param dst: Destination image. The size and depth is the same as ``src`` .
|
||||
:param dst: Destination image with the same size and depth as ``src`` .
|
||||
|
||||
:param code: Color space conversion code. For details, see :func:`cvtColor` . Conversion to/from Luv and Bayer color spaces is not supported.
|
||||
|
||||
@ -407,7 +407,7 @@ gpu::threshold
|
||||
|
||||
:param src: Source array (single-channel). ``CV_64F`` depth is not supported.
|
||||
|
||||
:param dst: Destination array. The size and type is the same as ``src`` .
|
||||
:param dst: Destination array with the same size and type as ``src`` .
|
||||
|
||||
:param thresh: Threshold value.
|
||||
|
||||
@ -430,7 +430,7 @@ gpu::resize
|
||||
|
||||
:param src: Source image. Supports the ``CV_8UC1`` and ``CV_8UC4`` types.
|
||||
|
||||
:param dst: Destination image. The size is ``dsize`` (when it is non-zero) or the size is computed from ``src.size()``, ``fx``, and ``fy`` . The type is the same as ``src`` .
|
||||
:param dst: Destination image with the same type as ``src`` . The size is ``dsize`` (when it is non-zero) or the size is computed from ``src.size()``, ``fx``, and ``fy`` .
|
||||
|
||||
:param dsize: Destination image size. If it is zero, it is computed as:
|
||||
|
||||
@ -465,7 +465,7 @@ gpu::warpAffine
|
||||
|
||||
:param src: Source image. Supports ``CV_8U``, ``CV_16U``, ``CV_32S``, or ``CV_32F`` depth and 1, 3, or 4 channels.
|
||||
|
||||
:param dst: Destination image. The size is ``dsize`` . The type is the same as ``src`` .
|
||||
:param dst: Destination image with the same type as ``src`` . The size is ``dsize`` .
|
||||
|
||||
:param M: *2x3* transformation matrix.
|
||||
|
||||
@ -486,7 +486,7 @@ gpu::warpPerspective
|
||||
|
||||
:param src: Source image. Supports ``CV_8U``, ``CV_16U``, ``CV_32S``, or ``CV_32F`` depth and 1, 3, or 4 channels.
|
||||
|
||||
:param dst: Destination image. The size is ``dsize`` . The type is the same as ``src`` .
|
||||
:param dst: Destination image with the same type as ``src`` . The size is ``dsize`` .
|
||||
|
||||
:param M: *3x3* transformation matrix.
|
||||
|
||||
@ -507,7 +507,7 @@ gpu::rotate
|
||||
|
||||
:param src: Source image. Supports ``CV_8UC1`` and ``CV_8UC4`` types.
|
||||
|
||||
:param dst: Destination image. The size is ``dsize`` . The type is the same as ``src`` .
|
||||
:param dst: Destination image with the same type as ``src`` . The size is ``dsize`` .
|
||||
|
||||
:param dsize: Size of the destination image.
|
||||
|
||||
@ -532,7 +532,7 @@ gpu::copyMakeBorder
|
||||
|
||||
:param src: Source image. ``CV_8UC1``, ``CV_8UC4``, ``CV_32SC1``, and ``CV_32FC1`` types are supported.
|
||||
|
||||
:param dst: Destination image. The type is the same as ``src`` . The size is ``Size(src.cols+left+right, src.rows+top+bottom)`` .
|
||||
:param dst: Destination image with the same type as ``src`` . The size is ``Size(src.cols+left+right, src.rows+top+bottom)`` .
|
||||
|
||||
:param top, bottom, left, right: Number of pixels in each direction from the source image rectangle to extrapolate. For example: ``top=1, bottom=1, left=1, right=1`` mean that 1 pixel-wide border needs to be built.
|
||||
|
||||
@ -552,7 +552,7 @@ gpu::rectStdDev
|
||||
|
||||
:param sqr: Squared source image. Only the ``CV_32FC1`` type is supported.
|
||||
|
||||
:param dst: Destination image. The type and size is the same as ``src`` .
|
||||
:param dst: Destination image with the same type and size as ``src`` .
|
||||
|
||||
:param rect: Rectangular window.
|
||||
|
||||
|
||||
@ -31,7 +31,7 @@ gpu::norm
|
||||
|
||||
:param src1: The source matrix. Any matrices except 64F are supported.
|
||||
|
||||
:param src2: The second source matrix (if any). The size and type is the same as ``src1``.
|
||||
:param src2: The second source matrix (if any) with the same size and type as ``src1``.
|
||||
|
||||
:param normType: Norm type. ``NORM_L1`` , ``NORM_L2`` , and ``NORM_INF`` are supported for now.
|
||||
|
||||
|
||||
@ -9,7 +9,7 @@ gpu::HOGDescriptor
|
||||
------------------
|
||||
.. cpp:class:: gpu::HOGDescriptor
|
||||
|
||||
Histogram of Oriented Gradients [Navneet Dalal and Bill Triggs. Histogram of oriented gradients for human detection. 2005.] descriptor and detector.
|
||||
Provides a histogram of Oriented Gradients [Navneet Dalal and Bill Triggs. Histogram of oriented gradients for human detection. 2005.] descriptor and detector.
|
||||
::
|
||||
|
||||
struct CV_EXPORTS HOGDescriptor
|
||||
@ -61,7 +61,7 @@ gpu::HOGDescriptor
|
||||
}
|
||||
|
||||
|
||||
Interfaces of all methods are kept similar to the ``CPU HOG`` descriptor and detector analogues as much as possible.
|
||||
Interfaces of all methods are kept similar to the ``CPU HOG`` descriptor and detector analogues as much as possible.
|
||||
|
||||
.. index:: gpu::HOGDescriptor::HOGDescriptor
|
||||
|
||||
@ -74,7 +74,7 @@ gpu::HOGDescriptor::HOGDescriptor
|
||||
double threshold_L2hys=0.2, bool gamma_correction=true,
|
||||
int nlevels=DEFAULT_NLEVELS)
|
||||
|
||||
Creates ``HOG`` descriptor and detector.
|
||||
Creates the ``HOG`` descriptor and detector.
|
||||
|
||||
:param win_size: Detection window size. Align to block size and block stride.
|
||||
|
||||
|
||||
@ -13,15 +13,15 @@ gpu::add
|
||||
|
||||
.. cpp:function:: void gpu::add(const GpuMat& src1, const Scalar& src2, GpuMat& dst)
|
||||
|
||||
Computes matrix-matrix or matrix-scalar sum.
|
||||
Computes a matrix-matrix or matrix-scalar sum.
|
||||
|
||||
:param src1: First source matrix. ``CV_8UC1``, ``CV_8UC4``, ``CV_32SC1`` and ``CV_32FC1`` matrices are supported for now.
|
||||
|
||||
:param src2: Second source matrix or a scalar to be added to ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
See also: :c:func:`add`.
|
||||
See Also: :c:func:`add`.
|
||||
|
||||
.. index:: gpu::subtract
|
||||
|
||||
@ -37,9 +37,9 @@ gpu::subtract
|
||||
|
||||
:param src2: Second source matrix or a scalar to be subtracted from ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
See also: :c:func:`subtract`.
|
||||
See Also: :c:func:`subtract`.
|
||||
|
||||
|
||||
|
||||
@ -51,15 +51,15 @@ gpu::multiply
|
||||
|
||||
.. cpp:function:: void gpu::multiply(const GpuMat& src1, const Scalar& src2, GpuMat& dst)
|
||||
|
||||
Computes matrix-matrix or matrix-scalar per-element product.
|
||||
Computes a matrix-matrix or matrix-scalar per-element product.
|
||||
|
||||
:param src1: First source matrix. ``CV_8UC1``, ``CV_8UC4``, ``CV_32SC1`` and ``CV_32FC1`` matrices are supported for now.
|
||||
|
||||
:param src2: Second source matrix or a scalar to be multiplied by ``src1`` elements.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
See also: :c:func:`multiply`.
|
||||
See Also: :c:func:`multiply`.
|
||||
|
||||
|
||||
.. index:: gpu::divide
|
||||
@ -70,17 +70,17 @@ gpu::divide
|
||||
|
||||
.. cpp:function:: void gpu::divide(const GpuMat& src1, const Scalar& src2, GpuMat& dst)
|
||||
|
||||
Computes matrix-matrix or matrix-scalar sum.
|
||||
Computes a matrix-matrix or matrix-scalar sum.
|
||||
|
||||
:param src1: First source matrix. ``CV_8UC1``, ``CV_8UC4``, ``CV_32SC1`` and ``CV_32FC1`` matrices are supported for now.
|
||||
|
||||
:param src2: Second source matrix or a scalar. The ``src1`` elements are divided by it.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
This function in contrast to :c:func:`divide` uses round-down rounding mode.
|
||||
This function, in contrast to :c:func:`divide`, uses a round-down rounding mode.
|
||||
|
||||
See also: :c:func:`divide`.
|
||||
See Also: :c:func:`divide`.
|
||||
|
||||
|
||||
|
||||
@ -90,13 +90,13 @@ gpu::exp
|
||||
------------
|
||||
.. cpp:function:: void gpu::exp(const GpuMat& src, GpuMat& dst)
|
||||
|
||||
Computes exponent of each matrix element.
|
||||
Computes an exponent of each matrix element.
|
||||
|
||||
:param src: Source matrix. ``CV_32FC1`` matrixes are supported for now.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src``.
|
||||
:param dst: Destination matrix with the same size and type as ``src``.
|
||||
|
||||
See also: :c:func:`exp`.
|
||||
See Also: :c:func:`exp`.
|
||||
|
||||
|
||||
|
||||
@ -106,13 +106,13 @@ gpu::log
|
||||
------------
|
||||
.. cpp:function:: void gpu::log(const GpuMat& src, GpuMat& dst)
|
||||
|
||||
Computes natural logarithm of absolute value of each matrix element.
|
||||
Computes a natural logarithm of absolute value of each matrix element.
|
||||
|
||||
:param src: Source matrix. ``CV_32FC1`` matrixes are supported for now.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src``.
|
||||
:param dst: Destination matrix with the same size and type as ``src``.
|
||||
|
||||
See also: :c:func:`log`.
|
||||
See Also: :c:func:`log`.
|
||||
|
||||
|
||||
|
||||
@ -130,9 +130,9 @@ gpu::absdiff
|
||||
|
||||
:param src2: Second source matrix or a scalar to be added to ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
See also: :c:func:`absdiff`.
|
||||
See Also: :c:func:`absdiff`.
|
||||
|
||||
.. index:: gpu::compare
|
||||
|
||||
@ -144,9 +144,9 @@ gpu::compare
|
||||
|
||||
:param src1: First source matrix. ``CV_8UC4`` and ``CV_32FC1`` matrices are supported for now.
|
||||
|
||||
:param src2: Second source matrix. Must have the same size and type as ``a``.
|
||||
:param src2: Second source matrix with the same size and type as ``a``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size as ``a`` and be ``CV_8UC1`` type.
|
||||
:param dst: Destination matrix with the same size as ``a`` and the ``CV_8UC1`` type.
|
||||
|
||||
:param cmpop: Flag specifying the relation between the elements to be checked:
|
||||
|
||||
@ -157,7 +157,7 @@ gpu::compare
|
||||
* **CMP_LE:** ``src1(.) <= src2(.)``
|
||||
* **CMP_NE:** ``src1(.) != src2(.)``
|
||||
|
||||
See also: :c:func:`compare`.
|
||||
See Also: :c:func:`compare`.
|
||||
|
||||
|
||||
.. index:: gpu::bitwise_not
|
||||
@ -172,7 +172,7 @@ gpu::bitwise_not
|
||||
|
||||
:param src: Source matrix.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src``.
|
||||
:param dst: Destination matrix with the same size and type as ``src``.
|
||||
|
||||
:param mask: Optional operation mask. 8-bit single channel image.
|
||||
|
||||
@ -192,9 +192,9 @@ gpu::bitwise_or
|
||||
|
||||
:param src1: First source matrix.
|
||||
|
||||
:param src2: Second source matrix. It must have the same size and type as ``src1``.
|
||||
:param src2: Second source matrix with the same size and type as ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
:param mask: Optional operation mask. 8-bit single channel image.
|
||||
|
||||
@ -214,9 +214,9 @@ gpu::bitwise_and
|
||||
|
||||
:param src1: First source matrix.
|
||||
|
||||
:param src2: Second source matrix. It must have the same size and type as ``src1``.
|
||||
:param src2: Second source matrix with the same size and type as ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
:param mask: Optional operation mask. 8-bit single channel image.
|
||||
|
||||
@ -236,9 +236,9 @@ gpu::bitwise_xor
|
||||
|
||||
:param src1: First source matrix.
|
||||
|
||||
:param src2: Second source matrix. It must have the same size and type as ``src1``.
|
||||
:param src2: Second source matrix with the same size and type as ``src1``.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
:param mask: Optional operation mask. 8-bit single channel image.
|
||||
|
||||
@ -258,17 +258,17 @@ gpu::min
|
||||
|
||||
.. cpp:function:: void gpu::min(const GpuMat& src1, double src2, GpuMat& dst, const Stream& stream)
|
||||
|
||||
Computes per-element minimum of two matrices (or a matrix and a scalar).
|
||||
Computes the per-element minimum of two matrices (or a matrix and a scalar).
|
||||
|
||||
:param src1: First source matrix.
|
||||
|
||||
:param src2: Second source matrix or a scalar to compare compare ``src1`` elements with.
|
||||
:param src2: Second source matrix or a scalar to compare ``src1`` elements with.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
:param stream: Stream for the asynchronous version.
|
||||
|
||||
See also: :c:func:`min`.
|
||||
See Also: :c:func:`min`.
|
||||
|
||||
|
||||
|
||||
@ -284,14 +284,14 @@ gpu::max
|
||||
|
||||
.. cpp:function:: void gpu::max(const GpuMat& src1, double src2, GpuMat& dst, const Stream& stream)
|
||||
|
||||
Computes per-element maximum of two matrices (or a matrix and a scalar).
|
||||
Computes the per-element maximum of two matrices (or a matrix and a scalar).
|
||||
|
||||
:param src1: First source matrix.
|
||||
|
||||
:param src2: Second source matrix or a scalar to compare ``src1`` elements with.
|
||||
|
||||
:param dst: Destination matrix. Will have the same size and type as ``src1``.
|
||||
:param dst: Destination matrix with the same size and type as ``src1``.
|
||||
|
||||
:param stream: Stream for the asynchronous version.
|
||||
|
||||
See also: :c:func:`max`.
|
||||
See Also: :c:func:`max`.
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user