Stereo Correspondance Algorithms

クラス
class	cv::stereo::StereoMatcher
	Filters off small noise blobs (speckles) in the disparity map [詳解]
class	cv::stereo::StereoBinaryBM
	Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige. [詳解]
class	cv::stereo::StereoBinarySGBM
	The class implements the modified H. Hirschmuller algorithm [HH08] that differs from the original one as follows: [詳解]
struct	cv::stereo::MatchQuasiDense
struct	cv::stereo::PropagationParameters
class	cv::stereo::QuasiDenseStereo
	Class containing the methods needed for Quasi Dense Stereo computation. [詳解]

列挙型
enum	{ CV_SPECKLE_REMOVAL_ALGORITHM , CV_SPECKLE_REMOVAL_AVG_ALGORITHM }
	speckle removal algorithms. These algorithms have the purpose of removing small regions
enum	{ CV_QUADRATIC_INTERPOLATION , CV_SIMETRICV_INTERPOLATION }
	subpixel interpolationm methods for disparities.

関数
	cv::stereo::MatchQuasiDense::CV_WRAP_AS (apply) bool operator<(const MatchQuasiDense &rhs) const
virtual CV_WRAP	cv::stereo::QuasiDenseStereo::~QuasiDenseStereo ()=0
	destructor Method to free all the memory allocated by matrices and vectors in this class.
virtual CV_WRAP int	cv::stereo::QuasiDenseStereo::loadParameters (cv::String filepath)=0
	Load a file containing the configuration parameters of the class. [詳解]
virtual CV_WRAP int	cv::stereo::QuasiDenseStereo::saveParameters (cv::String filepath)=0
	Save a file containing all the configuration parameters the class is currently set to. [詳解]
virtual CV_WRAP void	cv::stereo::QuasiDenseStereo::getSparseMatches (CV_OUT std::vector< MatchQuasiDense > &sMatches)=0
	Get The sparse corresponding points. [詳解]
virtual CV_WRAP void	cv::stereo::QuasiDenseStereo::getDenseMatches (CV_OUT std::vector< MatchQuasiDense > &denseMatches)=0
	Get The dense corresponding points. [詳解]
virtual CV_WRAP void	cv::stereo::QuasiDenseStereo::process (const cv::Mat &imgLeft, const cv::Mat &imgRight)=0
	Main process of the algorithm. This method computes the sparse seeds and then densifies them. [詳解]
virtual CV_WRAP cv::Point2f	cv::stereo::QuasiDenseStereo::getMatch (const int x, const int y)=0
	Specify pixel coordinates in the left image and get its corresponding location in the right image. [詳解]
virtual CV_WRAP cv::Mat	cv::stereo::QuasiDenseStereo::getDisparity ()=0
	Compute and return the disparity map based on the correspondences found in the "process" method. [詳解]
static CV_WRAP cv::Ptr< QuasiDenseStereo >	cv::stereo::QuasiDenseStereo::create (cv::Size monoImgSize, cv::String paramFilepath=cv::String())

変数
CV_PROP_RW cv::Point2i	cv::stereo::MatchQuasiDense::p0
CV_PROP_RW cv::Point2i	cv::stereo::MatchQuasiDense::p1
CV_PROP_RW float	cv::stereo::MatchQuasiDense::corr
CV_PROP_RW int	cv::stereo::PropagationParameters::corrWinSizeX
CV_PROP_RW int	cv::stereo::PropagationParameters::corrWinSizeY
CV_PROP_RW int	cv::stereo::PropagationParameters::borderX
CV_PROP_RW int	cv::stereo::PropagationParameters::borderY
CV_PROP_RW float	cv::stereo::PropagationParameters::correlationThreshold
CV_PROP_RW float	cv::stereo::PropagationParameters::textrureThreshold
CV_PROP_RW int	cv::stereo::PropagationParameters::neighborhoodSize
CV_PROP_RW int	cv::stereo::PropagationParameters::disparityGradient
CV_PROP_RW int	cv::stereo::PropagationParameters::lkTemplateSize
CV_PROP_RW int	cv::stereo::PropagationParameters::lkPyrLvl
CV_PROP_RW int	cv::stereo::PropagationParameters::lkTermParam1
CV_PROP_RW float	cv::stereo::PropagationParameters::lkTermParam2
CV_PROP_RW float	cv::stereo::PropagationParameters::gftQualityThres
CV_PROP_RW int	cv::stereo::PropagationParameters::gftMinSeperationDist
CV_PROP_RW int	cv::stereo::PropagationParameters::gftMaxNumFeatures
CV_PROP_RW PropagationParameters	cv::stereo::QuasiDenseStereo::Param

詳解

関数詳解

getDenseMatches()

virtual CV_WRAP void cv::stereo::QuasiDenseStereo::getDenseMatches ( CV_OUT std::vector< MatchQuasiDense > &  denseMatches )

pure virtual

Get The dense corresponding points.

引数

[out]

denseMatches

A vector containing all dense matches.

覚え書き

The method clears the denseMatches vector.

The returned Match elements inside the sMatches vector, do not use corr member.

getDisparity()

virtual CV_WRAP cv::Mat cv::stereo::QuasiDenseStereo::getDisparity ( )

pure virtual

Compute and return the disparity map based on the correspondences found in the "process" method.

覚え書き

Default level is 50

戻り値

cv::Mat containing a the disparity image in grayscale.

参照

computeDisparity

quantizeDisparity

getMatch()

virtual CV_WRAP cv::Point2f cv::stereo::QuasiDenseStereo::getMatch ( const int  x, const int  y  )

pure virtual

Specify pixel coordinates in the left image and get its corresponding location in the right image.

引数

[in]	x	The x pixel coordinate in the left image channel.
[in]	y	The y pixel coordinate in the left image channel.

戻り値

cv::Point(x,y)	The location of the corresponding pixel in the right image.
cv::Point(0,0)	(NO_MATCH) if no match is found in the right image for the specified pixel location in the left image.

覚え書き

This method should be always called after process, otherwise the matches will not be correct.

getSparseMatches()

virtual CV_WRAP void cv::stereo::QuasiDenseStereo::getSparseMatches ( CV_OUT std::vector< MatchQuasiDense > &  sMatches )

pure virtual

Get The sparse corresponding points.

引数

[out]

sMatches

A vector containing all sparse correspondences.

覚え書き

The method clears the sMatches vector.

The returned Match elements inside the sMatches vector, do not use corr member.

loadParameters()

virtual CV_WRAP int cv::stereo::QuasiDenseStereo::loadParameters ( cv::String  filepath )

pure virtual

Load a file containing the configuration parameters of the class.

引数

[in]

filepath

The location of the .YAML file containing the configuration parameters.

覚え書き

default value is an empty string in which case the default parameters will be loaded.

戻り値

1	If the path is not empty and the program loaded the parameters successfully.
0	If the path is empty and the program loaded default parameters.
-1	If the file location is not valid or the program could not open the file and loaded default parameters from defaults.hpp.

覚え書き

The method is automatically called in the constructor and configures the class.

Loading different parameters will have an effect on the output. This is useful for tuning in case of video processing.

参照

loadParameters

process()

virtual CV_WRAP void cv::stereo::QuasiDenseStereo::process ( const cv::Mat &  imgLeft, const cv::Mat &  imgRight  )

pure virtual

Main process of the algorithm. This method computes the sparse seeds and then densifies them.

Initially input images are converted to gray-scale and then the sparseMatching method is called to obtain the sparse stereo. Finally quasiDenseMatching is called to densify the corresponding points.

引数

[in]	imgLeft	The left Channel of a stereo image pair.
[in]	imgRight	The right Channel of a stereo image pair.

覚え書き

If input images are in color, the method assumes that are BGR and converts them to grayscale.

参照

sparseMatching

quasiDenseMatching

saveParameters()

virtual CV_WRAP int cv::stereo::QuasiDenseStereo::saveParameters ( cv::String  filepath )

pure virtual

Save a file containing all the configuration parameters the class is currently set to.

引数

[in]

filepath

The location to store the parameters file.

覚え書き

Calling this method with no arguments will result in storing class parameters to a file names "qds_parameters.yaml" in the root project folder.

This method can be used to generate a template file for tuning the class.

参照

loadParameters