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Purpose: 2nd review cycle - see ?? .

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Elena Fedotova 2011-06-18 20:45:35 +00:00
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modules/gpu/doc/camera_calibration_and_3d_reconstruction.rst
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@ -9,7 +9,7 @@ gpu::StereoBM_GPU
-----------------
.. ocv:class:: gpu::StereoBM_GPU
This class computes stereo correspondence (disparity map) using the block matching algorithm.
Class computing stereo correspondence (disparity map) using the block matching algorithm.
::
class StereoBM_GPU
@ -57,7 +57,7 @@ gpu::StereoBM_GPU::StereoBM_GPU
Enables ``StereoBM_GPU`` constructors.
:param preset: Preset:
:param preset: Parameter presetting:
* **BASIC_PRESET** Basic mode without pre-processing.
@ -101,7 +101,7 @@ gpu::StereoBeliefPropagation
----------------------------
.. ocv:class:: gpu::StereoBeliefPropagation
This class computes stereo correspondence using the belief propagation algorithm. ::
Class computing stereo correspondence using the belief propagation algorithm. ::
class StereoBeliefPropagation
{
@ -144,23 +144,23 @@ This class computes stereo correspondence using the belief propagation algorithm
...
};
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.
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.
**Note:**
.. note::
``StereoBeliefPropagation`` requires a lot of memory for message storage:
``StereoBeliefPropagation`` requires a lot of memory for message storage:
.. math::
.. math::
width \_ step \cdot height \cdot ndisp \cdot 4 \cdot (1 + 0.25)
width \_ step \cdot height \cdot ndisp \cdot 4 \cdot (1 + 0.25)
and for data cost storage:
and for data cost storage:
.. math::
.. math::
width\_step \cdot height \cdot ndisp \cdot (1 + 0.25 + 0.0625 + \dotsm + \frac{1}{4^{levels}})
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.
``width_step`` is the number of bytes in a line including padding.
.. index:: gpu::StereoBeliefPropagation::StereoBeliefPropagation
@ -198,7 +198,7 @@ gpu::StereoBeliefPropagation::StereoBeliefPropagation
DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)
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].
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].
By default, :ocv: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:
@ -237,7 +237,7 @@ gpu::StereoBeliefPropagation::operator ()
.. ocv:function:: void gpu::StereoBeliefPropagation::operator()( const GpuMat& data, GpuMat& disparity, Stream& stream)
:param data: The user-specified data cost, a matrix of ``msg_type`` type and ``Size(<image columns>*ndisp, <image rows>)`` size.
:param data: User-specified data cost, a matrix of ``msg_type`` type and ``Size(<image columns>*ndisp, <image rows>)`` size.
:param disparity: Output disparity map. If the matrix is empty, it is created as the ``CV_16SC1`` matrix. Otherwise, the type is retained.
@ -249,7 +249,7 @@ gpu::StereoConstantSpaceBP
--------------------------
.. ocv:class:: gpu::StereoConstantSpaceBP
This class computes stereo correspondence using the constant space belief propagation algorithm. ::
Class computing stereo correspondence using the constant space belief propagation algorithm. ::
class StereoConstantSpaceBP
{
@ -300,7 +300,7 @@ This class computes stereo correspondence using the constant space belief propag
};
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``.
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 mentioned above. By default, a local algorithm is used. To enable a global algorithm, set ``use_local_init_data_cost`` to ``false``.
.. index:: gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
@ -310,7 +310,7 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
.. ocv: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)
Enables the StereoConstantSpaceBP constructors.
Enables the ``StereoConstantSpaceBP`` constructors.
:param ndisp: Number of disparities.
@ -342,7 +342,7 @@ gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term)
For more details, see [Q. Yang, L. Wang, and N. Ahuja. A constant-space belief propagation algorithm for stereo matching. In CVPR, 2010].
For more details, see [Q. Yang, L. Wang, and N. Ahuja. *A constant-space belief propagation algorithm for stereo matching*. In CVPR, 2010].
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:
@ -385,7 +385,7 @@ gpu::DisparityBilateralFilter
-----------------------------
.. ocv:class:: gpu::DisparityBilateralFilter
This class refines a disparity map using joint bilateral filtering. ::
Class refinining a disparity map using joint bilateral filtering. ::
class CV_EXPORTS DisparityBilateralFilter
{
@ -410,7 +410,7 @@ This class refines a disparity map using joint bilateral filtering. ::
};
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].
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].
.. index:: gpu::DisparityBilateralFilter::DisparityBilateralFilter
@ -490,7 +490,7 @@ gpu::reprojectImageTo3D
:param stream: Stream for the asynchronous version.
See Also: :ocv:func:`reprojectImageTo3D` .
.. seealso:: :ocv:func:`reprojectImageTo3D` .
.. index:: gpu::solvePnPRansac