Stereo Correspondence CUDA 加速的计算机视觉


class   cv::cuda::DisparityBilateralFilter
  Class refining a disparity map using joint bilateral filtering. : 更多...
 
class   cv::cuda::StereoBeliefPropagation
  Class computing stereo correspondence using the belief propagation algorithm. : 更多...
 
class   cv::cuda::StereoBM
  Class computing stereo correspondence (disparity map) using the block matching algorithm. : 更多...
 
class   cv::cuda::StereoConstantSpaceBP
  Class computing stereo correspondence using the constant space belief propagation algorithm. : 更多...
 

函数

Ptr < cuda::DisparityBilateralFilter cv::cuda::createDisparityBilateralFilter (int ndisp=64, int radius=3, int iters=1)
  Creates DisparityBilateralFilter 对象。 更多...
 
Ptr < cuda::StereoBeliefPropagation cv::cuda::createStereoBeliefPropagation (int ndisp=64, int iters=5, int levels=5, int msg_type= CV_32F )
  Creates StereoBeliefPropagation 对象。 更多...
 
Ptr < cuda::StereoBM cv::cuda::createStereoBM (int numDisparities=64, int blockSize=19)
  Creates StereoBM 对象。 更多...
 
Ptr < cuda::StereoConstantSpaceBP cv::cuda::createStereoConstantSpaceBP (int ndisp=128, int iters=8, int levels=4, int nr_plane=4, int msg_type= CV_32F )
  Creates StereoConstantSpaceBP 对象。 更多...
 
void  cv::cuda::drawColorDisp ( InputArray src_disp, OutputArray dst_disp, int ndisp, Stream &stream= Stream::Null ())
  Colors a disparity image. 更多...
 
void  cv::cuda::reprojectImageTo3D ( InputArray disp, OutputArray xyzw, InputArray Q, int dst_cn=4, Stream &stream= Stream::Null ())
  Reprojects a disparity image to 3D space. 更多...
 

详细描述

函数文档编制

◆  createDisparityBilateralFilter()

Ptr < cuda::DisparityBilateralFilter > cv::cuda::createDisparityBilateralFilter ( int  ndisp = 64 ,
int  radius = 3 ,
int  iters = 1  
)

#include < opencv2/cudastereo.hpp >

Creates DisparityBilateralFilter 对象。

Parameters
ndisp Number of disparities.
radius Filter radius.
iters Number of iterations.

◆  createStereoBeliefPropagation()

Ptr < cuda::StereoBeliefPropagation > cv::cuda::createStereoBeliefPropagation ( int  ndisp = 64 ,
int  iters = 5 ,
int  levels = 5 ,
int  msg_type = CV_32F  
)

#include < opencv2/cudastereo.hpp >

Creates StereoBeliefPropagation 对象。

Parameters
ndisp Number of disparities.
iters Number of BP iterations on each level.
levels Number of levels.
msg_type Type for messages. CV_16SC1 and CV_32FC1 types are supported.

◆  createStereoBM()

Ptr < cuda::StereoBM > cv::cuda::createStereoBM ( int  numDisparities = 64 ,
int  blockSize = 19  
)

#include < opencv2/cudastereo.hpp >

Creates StereoBM 对象。

Parameters
numDisparities the disparity search range. For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can then be shifted by changing the minimum disparity.
blockSize the linear size of the blocks compared by the algorithm. The size should be odd (as the block is centered at the current pixel). Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher chance for algorithm to find a wrong correspondence.

◆  createStereoConstantSpaceBP()

Ptr < cuda::StereoConstantSpaceBP > cv::cuda::createStereoConstantSpaceBP ( int  ndisp = 128 ,
int  iters = 8 ,
int  levels = 4 ,
int  nr_plane = 4 ,
int  msg_type = CV_32F  
)

#include < opencv2/cudastereo.hpp >

Creates StereoConstantSpaceBP 对象。

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.
msg_type Type for messages. CV_16SC1 and CV_32FC1 types are supported.

◆  drawColorDisp()

void cv::cuda::drawColorDisp ( InputArray   src_disp ,
OutputArray   dst_disp ,
int  ndisp ,
Stream stream = Stream::Null ()  
)

#include < opencv2/cudastereo.hpp >

Colors a disparity image.

Parameters
src_disp Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit floating-point disparity image. If 16-bit signed format is used, the values are assumed to have no fractional bits.
dst_disp Output disparity image. It has the same size as src_disp. The type is CV_8UC4 in BGRA format (alpha = 255).
ndisp Number of disparities.
stream Stream for the asynchronous version.

This function draws a colored disparity map by converting disparity values from [0..ndisp) interval first to HSV color space (where different disparity values correspond to different hues) and then converting the pixels to RGB for visualization.

◆  reprojectImageTo3D()

void cv::cuda::reprojectImageTo3D ( InputArray   disp ,
OutputArray   xyzw ,
InputArray   Q ,
int  dst_cn = 4 ,
Stream stream = Stream::Null ()  
)

#include < opencv2/cudastereo.hpp >

Reprojects a disparity image to 3D space.

Parameters
disp Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit floating-point disparity image. If 16-bit signed format is used, the values are assumed to have no fractional bits.
xyzw Output 3- or 4-channel floating-point image of the same size as disp . Each element of xyzw(x,y) contains 3D coordinates (x,y,z) or (x,y,z,1) of the point (x,y) , computed from the disparity map.
Q \(4 \times 4\) perspective transformation matrix that can be obtained via stereoRectify .
dst_cn The number of channels for output image. Can be 3 or 4.
stream Stream for the asynchronous version.
另请参阅
reprojectImageTo3D