gpu::StereoBM_GPU
-
class gpu::StereoBM_GPU
Class computing stereo correspondence (disparity map) using the block matching algorithm.
class StereoBM_GPU
{
public:
enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
StereoBM_GPU();
StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP,
int winSize = DEFAULT_WINSZ);
void operator() (const GpuMat& left, const GpuMat& right,
GpuMat& disparity);
void operator() (const GpuMat& left, const GpuMat& right,
GpuMat& disparity, const Stream & stream);
static bool checkIfGpuCallReasonable();
int preset;
int ndisp;
int winSize;
float avergeTexThreshold;
...
};
The class also performs pre- and post-filtering steps: Sobel pre-filtering (if PREFILTER_XSOBEL flag is set) and low textureness filtering (if averageTexThreshols > 0). If avergeTexThreshold = 0, low textureness filtering is disabled. Otherwise, the disparity is set to 0 in each point (x, y), where for the left image
System Message: WARNING/2 (\sum HorizontalGradiensInWindow(x, y, winSize) < (winSize \cdot winSize) \cdot avergeTexThreshold
)
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This means that the input left image is low textured.
gpu::StereoBeliefPropagation
-
class gpu::StereoBeliefPropagation
Class computing stereo correspondence using the belief propagation algorithm.
class StereoBeliefPropagation
{
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);
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
int msg_type = CV_32F);
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);
void operator()(const GpuMat& left, const GpuMat& right,
GpuMat& disparity);
void operator()(const GpuMat& left, const GpuMat& right,
GpuMat& disparity, Stream& stream);
void operator()(const GpuMat& data, GpuMat& disparity);
void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
int ndisp;
int iters;
int levels;
float max_data_term;
float data_weight;
float max_disc_term;
float disc_single_jump;
int msg_type;
...
};
The class implements algorithm described in [Felzenszwalb2006] . It can compute own data cost (using a truncated linear model) or use a user-provided data cost.
Note
StereoBeliefPropagation requires a lot of memory for message storage:
System Message: WARNING/2 (width \_ step \cdot height \cdot ndisp \cdot 4 \cdot (1 + 0.25))
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and for data cost storage:
System Message: WARNING/2 (width\_step \cdot height \cdot ndisp \cdot (1 + 0.25 + 0.0625 + \dotsm + \frac{1}{4^{levels}}))
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width_step is the number of bytes in a line including padding.
gpu::StereoBeliefPropagation::StereoBeliefPropagation
-
C++: gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp=DEFAULT_NDISP, int iters=DEFAULT_ITERS, int levels=DEFAULT_LEVELS, int msg_type=CV_32F)
-
C++: gpu::StereoBeliefPropagation::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)
Enables the StereoBeliefPropagation constructors.
Parameters: |
- ndisp – Number of disparities.
- iters – Number of BP iterations on each level.
- levels – Number of levels.
- max_data_term – Threshold for data cost truncation.
- data_weight – Data weight.
- max_disc_term – Threshold for discontinuity truncation.
- disc_single_jump – Discontinuity single jump.
- msg_type – Type for messages. CV_16SC1 and CV_32FC1 types are supported.
|
StereoBeliefPropagation uses a truncated linear model for the data cost and discontinuity terms:
System Message: WARNING/2 (DataCost = data \_ weight \cdot \min ( \lvert I_2-I_1 \rvert , max \_ data \_ term))
latex exited with error:
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LaTeX2e <2009/09/24>
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System Message: WARNING/2 (DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term))
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For more details, see [Felzenszwalb2006].
By default, gpu::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:
System Message: WARNING/2 (10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX)
latex exited with error:
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gpu::StereoConstantSpaceBP
-
class gpu::StereoConstantSpaceBP
Class computing stereo correspondence using the constant space belief propagation algorithm.
class StereoConstantSpaceBP
{
public:
enum { DEFAULT_NDISP = 128 };
enum { DEFAULT_ITERS = 8 };
enum { DEFAULT_LEVELS = 4 };
enum { DEFAULT_NR_PLANE = 4 };
static void estimateRecommendedParams(int width, int height,
int& ndisp, int& iters, int& levels, int& nr_plane);
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);
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);
void operator()(const GpuMat& left, const GpuMat& right,
GpuMat& disparity);
void operator()(const GpuMat& left, const GpuMat& right,
GpuMat& disparity, Stream& stream);
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;
...
};
The class implements algorithm described in [Yang2010]. 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.
gpu::StereoConstantSpaceBP::StereoConstantSpaceBP
-
C++: gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp=DEFAULT_NDISP, int iters=DEFAULT_ITERS, int levels=DEFAULT_LEVELS, int nr_plane=DEFAULT_NR_PLANE, int msg_type=CV_32F)
-
C++: 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.
Parameters: |
- ndisp – Number of disparities.
- iters – Number of BP iterations on each level.
- levels – Number of levels.
- nr_plane – Number of disparity levels on the first level.
- max_data_term – Truncation of data cost.
- data_weight – Data weight.
- max_disc_term – Truncation of discontinuity.
- disc_single_jump – Discontinuity single jump.
- min_disp_th – Minimal disparity threshold.
- msg_type – Type for messages. CV_16SC1 and CV_32FC1 types are supported.
|
StereoConstantSpaceBP uses a truncated linear model for the data cost and discontinuity terms:
System Message: WARNING/2 (DataCost = data \_ weight \cdot \min ( \lvert I_2-I_1 \rvert , max \_ data \_ term))
latex exited with error:
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System Message: WARNING/2 (DiscTerm = \min (disc \_ single \_ jump \cdot \lvert f_1-f_2 \rvert , max \_ disc \_ term))
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! LaTeX Error: File `bbm.sty’ not found.
Type X to quit or <RETURN> to proceed,
or enter new name. (Default extension: sty)
Enter file name:
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<read *>
l.11 ...ackage{amsmath}\usepackage{bbm}\usepackage
{colortbl}^^M
No pages of output.
Transcript written on math.log.
For more details, see [Yang2010].
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:
System Message: WARNING/2 (10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX)
latex exited with error:
[stderr]
[stdout]
This is pdfTeX, Version 3.1415926-1.40.10 (TeX Live 2009/Debian)
entering extended mode
(./math.tex
LaTeX2e <2009/09/24>
Babel <v3.8l> and hyphenation patterns for english, usenglishmax, dumylang, noh
yphenation, loaded.
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Document Class: article 2007/10/19 v1.4h Standard LaTeX document class
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For additional information on amsmath, use the `?’ option.
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(/usr/share/texmf-texlive/tex/latex/amsfonts/amsfonts.sty))
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Package: `euler’ v2.5 <1995/03/05> (FJ and FMi)
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! LaTeX Error: File `bbm.sty’ not found.
Type X to quit or <RETURN> to proceed,
or enter new name. (Default extension: sty)
Enter file name:
! Emergency stop.
<read *>
l.11 ...ackage{amsmath}\usepackage{bbm}\usepackage
{colortbl}^^M
No pages of output.
Transcript written on math.log.