generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

converter stereo correspondence algorithms to the new style

Browse Source
This commit is contained in:
Vadim Pisarevsky
2013-03-22 01:05:30 +04:00
parent bbae05413d
commit 7661625c39
8 changed files with 287 additions and 248 deletions
Download Patch File Download Diff File Expand all files Collapse all files

128
modules/calib3d/include/opencv2/calib3d.hpp
View File

@@ -12,6 +12,7 @@
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
@@ -372,6 +373,8 @@ CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
#ifdef __cplusplus
}
template<> CV_EXPORTS void cv::Ptr<CvStereoBMState>::delete_obj();
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
@@ -673,84 +676,95 @@ CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray p
class CV_EXPORTS_W StereoMatcher : public Algorithm
{
public:
enum { DISP_SHIFT=4, DISP_SCALE=(1 << DISP_SHIFT) };
CV_WRAP virtual void compute( InputArray left, InputArray right,
OutputArray disparity ) = 0;
CV_WRAP virtual int getMinDisparity() const = 0;
CV_WRAP virtual void setMinDisparity(int minDisparity) = 0;
CV_WRAP virtual int getNumDisparities() const = 0;
CV_WRAP virtual void setNumDisparities(int numDisparities) = 0;
CV_WRAP virtual int getBlockSize() const = 0;
CV_WRAP virtual void setBlockSize(int blockSize) = 0;
CV_WRAP virtual int getSpeckleWindowSize() const = 0;
CV_WRAP virtual void setSpeckleWindowSize(int speckleWindowSize) = 0;
CV_WRAP virtual int getSpeckleRange() const = 0;
CV_WRAP virtual void setSpeckleRange(int speckleRange) = 0;
CV_WRAP virtual int getDisp12MaxDiff() const = 0;
CV_WRAP virtual void setDisp12MaxDiff(int disp12MaxDiff) = 0;
};
enum { STEREO_DISP_SCALE=16, STEREO_PREFILTER_NORMALIZED_RESPONSE = 0, STEREO_PREFILTER_XSOBEL = 1 };
CV_EXPORTS Ptr<StereoMatcher> createStereoBM(int numDisparities=0, int SADWindowSize=21);
CV_EXPORTS Ptr<StereoMatcher> createStereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
int P1=0, int P2=0, int disp12MaxDiff=0,
int preFilterCap=0, int uniquenessRatio=0,
int speckleWindowSize=0, int speckleRange=0,
bool fullDP=false);
template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
// to be moved to "compat" module
class CV_EXPORTS_W StereoBM
class CV_EXPORTS_W StereoBM : public StereoMatcher
{
public:
enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1 };
//! the default constructor
CV_WRAP StereoBM();
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
CV_WRAP StereoBM(int preset, int ndisparities=0, int SADWindowSize=21);
//! the method that reinitializes the state. The previous content is destroyed
void init(int preset, int ndisparities=0, int SADWindowSize=21);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
CV_WRAP_AS(compute) void operator()( InputArray left, InputArray right,
OutputArray disparity, int disptype=CV_16S );
CV_WRAP virtual int getPreFilterType() const = 0;
CV_WRAP virtual void setPreFilterType(int preFilterType) = 0;
//! pointer to the underlying CvStereoBMState
Ptr<CvStereoBMState> state;
CV_WRAP virtual int getPreFilterSize() const = 0;
CV_WRAP virtual void setPreFilterSize(int preFilterSize) = 0;
CV_WRAP virtual int getPreFilterCap() const = 0;
CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
CV_WRAP virtual int getTextureThreshold() const = 0;
CV_WRAP virtual void setTextureThreshold(int textureThreshold) = 0;
CV_WRAP virtual int getUniquenessRatio() const = 0;
CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
CV_WRAP virtual int getSmallerBlockSize() const = 0;
CV_WRAP virtual void setSmallerBlockSize(int blockSize) = 0;
CV_WRAP virtual Rect getROI1() const = 0;
CV_WRAP virtual void setROI1(Rect roi1) = 0;
CV_WRAP virtual Rect getROI2() const = 0;
CV_WRAP virtual void setROI2(Rect roi2) = 0;
};
CV_EXPORTS Ptr<StereoBM> createStereoBM(int numDisparities=0, int blockSize=21);
// to be moved to "compat" module
class CV_EXPORTS_W StereoSGBM
class CV_EXPORTS_W StereoSGBM : public StereoMatcher
{
public:
enum { DISP_SHIFT=4, DISP_SCALE = (1<<DISP_SHIFT) };
enum { MODE_SGBM=0, MODE_HH=1 };
//! the default constructor
CV_WRAP StereoSGBM();
CV_WRAP virtual int getPreFilterCap() const = 0;
CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
//! the full constructor taking all the necessary algorithm parameters
CV_WRAP StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
int P1=0, int P2=0, int disp12MaxDiff=0,
int preFilterCap=0, int uniquenessRatio=0,
int speckleWindowSize=0, int speckleRange=0,
bool fullDP=false);
//! the destructor
virtual ~StereoSGBM();
CV_WRAP virtual int getUniquenessRatio() const = 0;
CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
//! the stereo correspondence operator that computes disparity map for the specified rectified stereo pair
CV_WRAP_AS(compute) virtual void operator()(InputArray left, InputArray right,
OutputArray disp);
CV_WRAP virtual int getP1() const = 0;
CV_WRAP virtual void setP1(int P1) = 0;
CV_PROP_RW int minDisparity;
CV_PROP_RW int numberOfDisparities;
CV_PROP_RW int SADWindowSize;
CV_PROP_RW int preFilterCap;
CV_PROP_RW int uniquenessRatio;
CV_PROP_RW int P1;
CV_PROP_RW int P2;
CV_PROP_RW int speckleWindowSize;
CV_PROP_RW int speckleRange;
CV_PROP_RW int disp12MaxDiff;
CV_PROP_RW bool fullDP;
CV_WRAP virtual int getP2() const = 0;
CV_WRAP virtual void setP2(int P2) = 0;
protected:
Ptr<StereoMatcher> sm;
CV_WRAP virtual int getMode() const = 0;
CV_WRAP virtual void setMode(int mode) = 0;
};
CV_EXPORTS Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int blockSize,
int P1=0, int P2=0, int disp12MaxDiff=0,
int preFilterCap=0, int uniquenessRatio=0,
int speckleWindowSize=0, int speckleRange=0,
int mode=StereoSGBM::MODE_SGBM);
//! filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff,
CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal,
int maxSpeckleSize, double maxDiff,
InputOutputArray buf=noArray() );
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())