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refactored StereoBeliefPropagation

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This commit is contained in:
Vladislav Vinogradov
2013-05-08 15:40:38 +04:00
parent dd6d58f873
commit d0e89337da
5 changed files with 345 additions and 306 deletions
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80
modules/gpustereo/include/opencv2/gpustereo.hpp
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@@ -65,61 +65,55 @@ public:
CV_EXPORTS Ptr<gpu::StereoBM> createStereoBM(int numDisparities = 64, int blockSize = 19);
/////////////////////////////////////////
// StereoBeliefPropagation
// "Efficient Belief Propagation for Early Vision"
// P.Felzenszwalb
class CV_EXPORTS StereoBeliefPropagation
//! "Efficient Belief Propagation for Early Vision" P.Felzenszwalb
class CV_EXPORTS StereoBeliefPropagation : public cv::StereoMatcher
{
public:
enum { DEFAULT_NDISP = 64 };
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
//! the default constructor
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
int msg_type = CV_32F);
//! the full constructor taking the number of disparities, number of BP iterations on each level,
//! number of levels, truncation of data cost, data weight,
//! truncation of discontinuity cost and discontinuity single jump
//! DataTerm = data_weight * min(fabs(I2-I1), max_data_term)
//! DiscTerm = min(disc_single_jump * fabs(f1-f2), max_disc_term)
//! please see paper for more details
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);
//! 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());
using cv::StereoMatcher::compute;
virtual void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream) = 0;
//! version for user specified data term
void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream = Stream::Null());
virtual void compute(InputArray data, OutputArray disparity, Stream& stream = Stream::Null()) = 0;
int ndisp;
//! number of BP iterations on each level
virtual int getNumIters() const = 0;
virtual void setNumIters(int iters) = 0;
int iters;
int levels;
//! number of levels
virtual int getNumLevels() const = 0;
virtual void setNumLevels(int levels) = 0;
float max_data_term;
float data_weight;
float max_disc_term;
float disc_single_jump;
//! truncation of data cost
virtual double getMaxDataTerm() const = 0;
virtual void setMaxDataTerm(double max_data_term) = 0;
int msg_type;
private:
GpuMat u, d, l, r, u2, d2, l2, r2;
std::vector<GpuMat> datas;
GpuMat out;
//! data weight
virtual double getDataWeight() const = 0;
virtual void setDataWeight(double data_weight) = 0;
//! truncation of discontinuity cost
virtual double getMaxDiscTerm() const = 0;
virtual void setMaxDiscTerm(double max_disc_term) = 0;
//! discontinuity single jump
virtual double getDiscSingleJump() const = 0;
virtual void setDiscSingleJump(double disc_single_jump) = 0;
virtual int getMsgType() const = 0;
virtual void setMsgType(int msg_type) = 0;
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
};
CV_EXPORTS Ptr<gpu::StereoBeliefPropagation>
createStereoBeliefPropagation(int ndisp = 64, int iters = 5, int levels = 5, int msg_type = CV_32F);
// "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
// Qingxiong Yang, Liang Wang, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/