quasi_dense_stereo.hpp

// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
 
//authors: Danail Stoyanov, Evangelos Mazomenos, Dimitrios Psychogyios
 
 
//__OPENCV_QUASI_DENSE_STEREO_H__
#ifndef __OPENCV_QUASI_DENSE_STEREO_H__
#define __OPENCV_QUASI_DENSE_STEREO_H__
 
 
 
#include <opencv2/core.hpp>
 
 
namespace cv
{
namespace stereo
{
// A basic match structure
struct CV_EXPORTS_W_SIMPLE MatchQuasiDense
{
    CV_PROP_RW cv::Point2i p0;
    CV_PROP_RW cv::Point2i p1;
    CV_PROP_RW float    corr;
 
    CV_WRAP MatchQuasiDense() { corr = 0; }
 
    CV_WRAP_AS(apply) bool operator < (const MatchQuasiDense & rhs) const//fixme  may be used uninitialized in this function
    {
        return this->corr < rhs.corr;
    }
};
struct CV_EXPORTS_W_SIMPLE PropagationParameters
{
    CV_PROP_RW int  corrWinSizeX;           // similarity window
    CV_PROP_RW int  corrWinSizeY;
 
    CV_PROP_RW int borderX;                 // border to ignore
    CV_PROP_RW int borderY;
 
    //matching
    CV_PROP_RW float correlationThreshold;  // correlation threshold
    CV_PROP_RW float textrureThreshold;     // texture threshold
 
    CV_PROP_RW int    neighborhoodSize;     // neighborhood size
    CV_PROP_RW int    disparityGradient;    // disparity gradient threshold
 
    // Parameters for LK flow algorithm
    CV_PROP_RW int lkTemplateSize;
    CV_PROP_RW int lkPyrLvl;
    CV_PROP_RW int lkTermParam1;
    CV_PROP_RW float lkTermParam2;
 
    // Parameters for GFT algorithm.
    CV_PROP_RW float gftQualityThres;
    CV_PROP_RW int gftMinSeperationDist;
    CV_PROP_RW int gftMaxNumFeatures;
 
};
 
 
class  CV_EXPORTS_W QuasiDenseStereo
{
public:
    CV_WRAP virtual ~QuasiDenseStereo() = 0;
 
 
    CV_WRAP virtual int loadParameters(cv::String filepath) = 0;
 
 
    CV_WRAP virtual int saveParameters(cv::String filepath) = 0;
 
 
    CV_WRAP virtual void getSparseMatches(CV_OUT std::vector<MatchQuasiDense> &sMatches) = 0;
 
 
    CV_WRAP virtual void getDenseMatches(CV_OUT  std::vector<MatchQuasiDense> &denseMatches) = 0;
 
 
 
    CV_WRAP virtual void process(const cv::Mat &imgLeft ,const cv::Mat &imgRight) = 0;
 
 
    CV_WRAP virtual cv::Point2f getMatch(const int x, const int y) = 0;
 
 
    CV_WRAP virtual cv::Mat getDisparity() = 0;
 
 
    CV_WRAP static cv::Ptr<QuasiDenseStereo> create(cv::Size monoImgSize, cv::String paramFilepath = cv::String());
 
 
    CV_PROP_RW PropagationParameters Param;
};
 
} //namespace cv
} //namespace stereo
 
#endif // __OPENCV_QUASI_DENSE_STEREO_H__