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new API for StereoMatchers

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This commit is contained in:
Vadim Pisarevsky
2013-03-01 02:24:46 +04:00
parent 891d7da6ee
commit b6efe30527
4 changed files with 657 additions and 393 deletions
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37
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -669,18 +669,35 @@ CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
OutputArray newPoints1, OutputArray newPoints2 );
class CV_EXPORTS_W StereoMatcher : public Algorithm
{
public:
CV_WRAP virtual void compute( InputArray left, InputArray right,
OutputArray disparity ) = 0;
};
enum { STEREO_DISP_SCALE=16, STEREO_PREFILTER_NORMALIZED_RESPONSE = 0, STEREO_PREFILTER_XSOBEL = 1,
STEREOBM_BASIC_PRESET=0, STEREOBM_FISH_EYE_PRESET=1, STEREOBM_NARROW_PRESET=2 };
CV_EXPORTS Ptr<StereoMatcher> createStereoBM(int preset, 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();
/*!
Block Matching Stereo Correspondence Algorithm
The class implements BM stereo correspondence algorithm by K. Konolige.
*/
// to be moved to "compat" module
class CV_EXPORTS_W StereoBM
{
public:
enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
BASIC_PRESET=STEREOBM_BASIC_PRESET,
FISH_EYE_PRESET=STEREOBM_FISH_EYE_PRESET,
NARROW_PRESET=STEREOBM_NARROW_PRESET };
//! the default constructor
CV_WRAP StereoBM();
@@ -697,11 +714,7 @@ public:
};
/*!
Semi-Global Block Matching Stereo Correspondence Algorithm
The class implements the original SGBM stereo correspondence algorithm by H. Hirschmuller and some its modification.
*/
// to be moved to "compat" module
class CV_EXPORTS_W StereoSGBM
{
public:
@@ -736,7 +749,7 @@ public:
CV_PROP_RW bool fullDP;
protected:
Mat buffer;
Ptr<StereoMatcher> sm;
};
//! filters off speckles (small regions of incorrectly computed disparity)