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refactored StereoConstantSpaceBP

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This commit is contained in:
Vladislav Vinogradov
2013-05-08 16:25:03 +04:00
parent d0e89337da
commit be9bb8f18b
6 changed files with 315 additions and 247 deletions
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69
modules/gpustereo/include/opencv2/gpustereo.hpp
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@@ -112,64 +112,31 @@ public:
CV_EXPORTS Ptr<gpu::StereoBeliefPropagation>
createStereoBeliefPropagation(int ndisp = 64, int iters = 5, int levels = 5, int msg_type = CV_32F);
/////////////////////////////////////////
// StereoConstantSpaceBP
// "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
// Qingxiong Yang, Liang Wang, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS StereoConstantSpaceBP
//! "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
//! Qingxiong Yang, Liang Wang, Narendra Ahuja
//! http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS StereoConstantSpaceBP : public gpu::StereoBeliefPropagation
{
public:
enum { DEFAULT_NDISP = 128 };
enum { DEFAULT_ITERS = 8 };
enum { DEFAULT_LEVELS = 4 };
enum { DEFAULT_NR_PLANE = 4 };
//! number of active disparity on the first level
virtual int getNrPlane() const = 0;
virtual void setNrPlane(int nr_plane) = 0;
virtual bool getUseLocalInitDataCost() const = 0;
virtual void setUseLocalInitDataCost(bool use_local_init_data_cost) = 0;
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
//! the default constructor
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
int nr_plane = DEFAULT_NR_PLANE,
int msg_type = CV_32F);
//! the full constructor taking the number of disparities, number of BP iterations on each level,
//! number of levels, number of active disparity on the first level, truncation of data cost, data weight,
//! truncation of discontinuity cost, discontinuity single jump and minimum disparity threshold
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);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
//! if disparity is empty output type will be CV_16S else output type will be disparity.type().
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream = Stream::Null());
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;
int msg_type;
bool use_local_init_data_cost;
private:
GpuMat messages_buffers;
GpuMat temp;
GpuMat out;
};
CV_EXPORTS Ptr<gpu::StereoConstantSpaceBP>
createStereoConstantSpaceBP(int ndisp = 128, int iters = 8, int levels = 4, int nr_plane = 4, int msg_type = CV_32F);
// Disparity map refinement using joint bilateral filtering given a single color image.
// Qingxiong Yang, Liang Wang, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/