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diff --git a/thirdparty/linux/include/opencv2/stereo.hpp b/thirdparty/linux/include/opencv2/stereo.hpp new file mode 100644 index 0000000..fc22938 --- /dev/null +++ b/thirdparty/linux/include/opencv2/stereo.hpp @@ -0,0 +1,280 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009, Willow Garage Inc., all rights reserved. +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef __OPENCV_STEREO_HPP__ +#define __OPENCV_STEREO_HPP__ + +#include "opencv2/core.hpp" +#include "opencv2/features2d.hpp" +#include "opencv2/core/affine.hpp" +#include "opencv2/stereo/descriptor.hpp" +#include "opencv2/stereo/matching.hpp" + +/** +@defgroup stereo Stereo Correspondance Algorithms + +*/ + +namespace cv +{ + namespace stereo + { + //! @addtogroup stereo + //! @{ + // void correctMatches( InputArray F, InputArray points1, InputArray points2, + // OutputArray newPoints1, OutputArray newPoints2 ); + /** @brief Filters off small noise blobs (speckles) in the disparity map + @param img The input 16-bit signed disparity image + @param newVal The disparity value used to paint-off the speckles + @param maxSpeckleSize The maximum speckle size to consider it a speckle. Larger blobs are not + affected by the algorithm + @param maxDiff Maximum difference between neighbor disparity pixels to put them into the same + blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point + disparity map, where disparity values are multiplied by 16, this scale factor should be taken into + account when specifying this parameter value. + @param buf The optional temporary buffer to avoid memory allocation within the function. + */ + /** @brief The base class for stereo correspondence algorithms. + */ + class StereoMatcher : public Algorithm + { + public: + enum { DISP_SHIFT = 4, + DISP_SCALE = (1 << DISP_SHIFT) + }; + + /** @brief Computes disparity map for the specified stereo pair + + @param left Left 8-bit single-channel image. + @param right Right image of the same size and the same type as the left one. + @param disparity Output disparity map. It has the same size as the input images. Some algorithms, + like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value + has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map. + */ + virtual void compute( InputArray left, InputArray right, + OutputArray disparity ) = 0; + + virtual int getMinDisparity() const = 0; + virtual void setMinDisparity(int minDisparity) = 0; + + virtual int getNumDisparities() const = 0; + virtual void setNumDisparities(int numDisparities) = 0; + + virtual int getBlockSize() const = 0; + virtual void setBlockSize(int blockSize) = 0; + + virtual int getSpeckleWindowSize() const = 0; + virtual void setSpeckleWindowSize(int speckleWindowSize) = 0; + + virtual int getSpeckleRange() const = 0; + virtual void setSpeckleRange(int speckleRange) = 0; + + virtual int getDisp12MaxDiff() const = 0; + virtual void setDisp12MaxDiff(int disp12MaxDiff) = 0; + + }; + //!speckle removal algorithms. These algorithms have the purpose of removing small regions + enum { + CV_SPECKLE_REMOVAL_ALGORITHM, CV_SPECKLE_REMOVAL_AVG_ALGORITHM + }; + //!subpixel interpolationm methods for disparities. + enum{ + CV_QUADRATIC_INTERPOLATION, CV_SIMETRICV_INTERPOLATION + }; + /** @brief Class for computing stereo correspondence using the block matching algorithm, introduced and + contributed to OpenCV by K. Konolige. + */ + class StereoBinaryBM : public StereoMatcher + { + public: + enum { PREFILTER_NORMALIZED_RESPONSE = 0, + PREFILTER_XSOBEL = 1 + }; + + virtual int getPreFilterType() const = 0; + virtual void setPreFilterType(int preFilterType) = 0; + + virtual int getPreFilterSize() const = 0; + virtual void setPreFilterSize(int preFilterSize) = 0; + + virtual int getPreFilterCap() const = 0; + virtual void setPreFilterCap(int preFilterCap) = 0; + + virtual int getTextureThreshold() const = 0; + virtual void setTextureThreshold(int textureThreshold) = 0; + + virtual int getUniquenessRatio() const = 0; + virtual void setUniquenessRatio(int uniquenessRatio) = 0; + + virtual int getSmallerBlockSize() const = 0; + virtual void setSmallerBlockSize(int blockSize) = 0; + + virtual int getScalleFactor() const = 0 ; + virtual void setScalleFactor(int factor) = 0; + + virtual int getSpekleRemovalTechnique() const = 0 ; + virtual void setSpekleRemovalTechnique(int factor) = 0; + + virtual bool getUsePrefilter() const = 0 ; + virtual void setUsePrefilter(bool factor) = 0; + + virtual int getBinaryKernelType() const = 0; + virtual void setBinaryKernelType(int value) = 0; + + virtual int getAgregationWindowSize() const = 0; + virtual void setAgregationWindowSize(int value) = 0; + /** @brief Creates StereoBM object + + @param 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. + @param 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. + + The function create StereoBM object. You can then call StereoBM::compute() to compute disparity for + a specific stereo pair. + */ + CV_EXPORTS static Ptr< cv::stereo::StereoBinaryBM > create(int numDisparities = 0, int blockSize = 9); + }; + + /** @brief The class implements the modified H. Hirschmuller algorithm @cite HH08 that differs from the original + one as follows: + + - By default, the algorithm is single-pass, which means that you consider only 5 directions + instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the + algorithm but beware that it may consume a lot of memory. + - The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the + blocks to single pixels. + - Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi + sub-pixel metric from @cite BT98 is used. Though, the color images are supported as well. + - Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for + example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness + check, quadratic interpolation and speckle filtering). + + @note + - (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found + at opencv_source_code/samples/python2/stereo_match.py + */ + class StereoBinarySGBM : public StereoMatcher + { + public: + enum + { + MODE_SGBM = 0, + MODE_HH = 1 + }; + + virtual int getPreFilterCap() const = 0; + virtual void setPreFilterCap(int preFilterCap) = 0; + + virtual int getUniquenessRatio() const = 0; + virtual void setUniquenessRatio(int uniquenessRatio) = 0; + + virtual int getP1() const = 0; + virtual void setP1(int P1) = 0; + + virtual int getP2() const = 0; + virtual void setP2(int P2) = 0; + + virtual int getMode() const = 0; + virtual void setMode(int mode) = 0; + + virtual int getSpekleRemovalTechnique() const = 0 ; + virtual void setSpekleRemovalTechnique(int factor) = 0; + + virtual int getBinaryKernelType() const = 0; + virtual void setBinaryKernelType(int value) = 0; + + virtual int getSubPixelInterpolationMethod() const = 0; + virtual void setSubPixelInterpolationMethod(int value) = 0; + + /** @brief Creates StereoSGBM object + + @param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes + rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. + @param numDisparities Maximum disparity minus minimum disparity. The value is always greater than + zero. In the current implementation, this parameter must be divisible by 16. + @param blockSize Matched block size. It must be an odd number \>=1 . Normally, it should be + somewhere in the 3..11 range. + @param P1 The first parameter controlling the disparity smoothness.This parameter is used for the case of slanted surfaces (not fronto parallel). + @param P2 The second parameter controlling the disparity smoothness.This parameter is used for "solving" the depth discontinuities problem. + The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 + between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor + pixels. The algorithm requires P2 \> P1 . See stereo_match.cpp sample where some reasonably good + P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and + 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). + @param disp12MaxDiff Maximum allowed difference (in integer pixel units) in the left-right + disparity check. Set it to a non-positive value to disable the check. + @param preFilterCap Truncation value for the prefiltered image pixels. The algorithm first + computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. + The result values are passed to the Birchfield-Tomasi pixel cost function. + @param uniquenessRatio Margin in percentage by which the best (minimum) computed cost function + value should "win" the second best value to consider the found match correct. Normally, a value + within the 5-15 range is good enough. + @param speckleWindowSize Maximum size of smooth disparity regions to consider their noise speckles + and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the + 50-200 range. + @param speckleRange Maximum disparity variation within each connected component. If you do speckle + filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. + Normally, 1 or 2 is good enough. + @param mode Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming + algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and + huge for HD-size pictures. By default, it is set to false . + + The first constructor initializes StereoSGBM with all the default parameters. So, you only have to + set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter + to a custom value. + */ + CV_EXPORTS static Ptr<cv::stereo::StereoBinarySGBM> create(int minDisparity, int numDisparities, int blockSize, + int P1 = 100, int P2 = 1000, int disp12MaxDiff = 1, + int preFilterCap = 0, int uniquenessRatio = 5, + int speckleWindowSize = 400, int speckleRange = 200, + int mode = StereoBinarySGBM::MODE_SGBM); + }; + //! @} + }//stereo +} // cv + +#endif |