opencv 0.94.4

pub mod cudastereo {
	//! # Stereo Correspondence
	use crate::mod_prelude::*;
	use crate::{core, sys, types};
	pub mod prelude {
		pub use super::{CUDA_DisparityBilateralFilterTrait, CUDA_DisparityBilateralFilterTraitConst, CUDA_StereoBMTrait, CUDA_StereoBMTraitConst, CUDA_StereoBeliefPropagationTrait, CUDA_StereoBeliefPropagationTraitConst, CUDA_StereoConstantSpaceBPTrait, CUDA_StereoConstantSpaceBPTraitConst, CUDA_StereoSGMTrait, CUDA_StereoSGMTraitConst};
	}

	/// Creates DisparityBilateralFilter object.
	///
	/// ## Parameters
	/// * ndisp: Number of disparities.
	/// * radius: Filter radius.
	/// * iters: Number of iterations.
	///
	/// ## Note
	/// This alternative version of [create_disparity_bilateral_filter] function uses the following default values for its arguments:
	/// * ndisp: 64
	/// * radius: 3
	/// * iters: 1
	#[inline]
	pub fn create_disparity_bilateral_filter_def() -> Result<core::Ptr<crate::cudastereo::CUDA_DisparityBilateralFilter>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createDisparityBilateralFilter(ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_DisparityBilateralFilter>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates DisparityBilateralFilter object.
	///
	/// ## Parameters
	/// * ndisp: Number of disparities.
	/// * radius: Filter radius.
	/// * iters: Number of iterations.
	///
	/// ## C++ default parameters
	/// * ndisp: 64
	/// * radius: 3
	/// * iters: 1
	#[inline]
	pub fn create_disparity_bilateral_filter(ndisp: i32, radius: i32, iters: i32) -> Result<core::Ptr<crate::cudastereo::CUDA_DisparityBilateralFilter>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createDisparityBilateralFilter_int_int_int(ndisp, radius, iters, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_DisparityBilateralFilter>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoBM object.
	///
	/// ## 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.
	///
	/// ## Note
	/// This alternative version of [create_stereo_bm] function uses the following default values for its arguments:
	/// * num_disparities: 64
	/// * block_size: 19
	#[inline]
	pub fn create_stereo_bm_def() -> Result<core::Ptr<crate::cudastereo::CUDA_StereoBM>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoBM(ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoBM>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoBM object.
	///
	/// ## 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.
	///
	/// ## C++ default parameters
	/// * num_disparities: 64
	/// * block_size: 19
	#[inline]
	pub fn create_stereo_bm(num_disparities: i32, block_size: i32) -> Result<core::Ptr<crate::cudastereo::CUDA_StereoBM>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoBM_int_int(num_disparities, block_size, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoBM>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoBeliefPropagation object.
	///
	/// ## 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.
	///
	/// ## Note
	/// This alternative version of [create_stereo_belief_propagation] function uses the following default values for its arguments:
	/// * ndisp: 64
	/// * iters: 5
	/// * levels: 5
	/// * msg_type: CV_32F
	#[inline]
	pub fn create_stereo_belief_propagation_def() -> Result<core::Ptr<crate::cudastereo::CUDA_StereoBeliefPropagation>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoBeliefPropagation(ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoBeliefPropagation>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoBeliefPropagation object.
	///
	/// ## 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.
	///
	/// ## C++ default parameters
	/// * ndisp: 64
	/// * iters: 5
	/// * levels: 5
	/// * msg_type: CV_32F
	#[inline]
	pub fn create_stereo_belief_propagation(ndisp: i32, iters: i32, levels: i32, msg_type: i32) -> Result<core::Ptr<crate::cudastereo::CUDA_StereoBeliefPropagation>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoBeliefPropagation_int_int_int_int(ndisp, iters, levels, msg_type, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoBeliefPropagation>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoConstantSpaceBP object.
	///
	/// ## 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.
	///
	/// ## Note
	/// This alternative version of [create_stereo_constant_space_bp] function uses the following default values for its arguments:
	/// * ndisp: 128
	/// * iters: 8
	/// * levels: 4
	/// * nr_plane: 4
	/// * msg_type: CV_32F
	#[inline]
	pub fn create_stereo_constant_space_bp_def() -> Result<core::Ptr<crate::cudastereo::CUDA_StereoConstantSpaceBP>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoConstantSpaceBP(ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoConstantSpaceBP>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoConstantSpaceBP object.
	///
	/// ## 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.
	///
	/// ## C++ default parameters
	/// * ndisp: 128
	/// * iters: 8
	/// * levels: 4
	/// * nr_plane: 4
	/// * msg_type: CV_32F
	#[inline]
	pub fn create_stereo_constant_space_bp(ndisp: i32, iters: i32, levels: i32, nr_plane: i32, msg_type: i32) -> Result<core::Ptr<crate::cudastereo::CUDA_StereoConstantSpaceBP>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoConstantSpaceBP_int_int_int_int_int(ndisp, iters, levels, nr_plane, msg_type, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoConstantSpaceBP>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoSGM object.
	///
	/// ## Parameters
	/// * minDisparity: Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
	/// * numDisparities: Maximum disparity minus minimum disparity. The value must be 64, 128 or 256.
	/// * P1: The first parameter controlling the disparity smoothness.This parameter is used for the case of slanted surfaces (not fronto parallel).
	/// * P2: The second parameter controlling the disparity smoothness.This parameter is used for "solving" the depth discontinuities problem.
	/// * 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.
	/// * mode: Set it to StereoSGM::MODE_HH to run the full-scale two-pass dynamic programming algorithm.
	/// It will consume O(W\*H\*numDisparities) bytes. By default, it is set to StereoSGM::MODE_HH4.
	///
	/// ## Note
	/// This alternative version of [create_stereo_sgm] function uses the following default values for its arguments:
	/// * min_disparity: 0
	/// * num_disparities: 128
	/// * p1: 10
	/// * p2: 120
	/// * uniqueness_ratio: 5
	/// * mode: cv::cuda::StereoSGM::MODE_HH4
	#[inline]
	pub fn create_stereo_sgm_def() -> Result<core::Ptr<crate::cudastereo::CUDA_StereoSGM>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoSGM(ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoSGM>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// Creates StereoSGM object.
	///
	/// ## Parameters
	/// * minDisparity: Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
	/// * numDisparities: Maximum disparity minus minimum disparity. The value must be 64, 128 or 256.
	/// * P1: The first parameter controlling the disparity smoothness.This parameter is used for the case of slanted surfaces (not fronto parallel).
	/// * P2: The second parameter controlling the disparity smoothness.This parameter is used for "solving" the depth discontinuities problem.
	/// * 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.
	/// * mode: Set it to StereoSGM::MODE_HH to run the full-scale two-pass dynamic programming algorithm.
	/// It will consume O(W\*H\*numDisparities) bytes. By default, it is set to StereoSGM::MODE_HH4.
	///
	/// ## C++ default parameters
	/// * min_disparity: 0
	/// * num_disparities: 128
	/// * p1: 10
	/// * p2: 120
	/// * uniqueness_ratio: 5
	/// * mode: cv::cuda::StereoSGM::MODE_HH4
	#[inline]
	pub fn create_stereo_sgm(min_disparity: i32, num_disparities: i32, p1: i32, p2: i32, uniqueness_ratio: i32, mode: i32) -> Result<core::Ptr<crate::cudastereo::CUDA_StereoSGM>> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_createStereoSGM_int_int_int_int_int_int(min_disparity, num_disparities, p1, p2, uniqueness_ratio, mode, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		let ret = unsafe { core::Ptr::<crate::cudastereo::CUDA_StereoSGM>::opencv_from_extern(ret) };
		Ok(ret)
	}

	/// 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.
	///
	/// ## Note
	/// This alternative version of [draw_color_disp] function uses the following default values for its arguments:
	/// * stream: Stream::Null()
	#[inline]
	pub fn draw_color_disp_def(src_disp: &impl ToInputArray, dst_disp: &mut impl ToOutputArray, ndisp: i32) -> Result<()> {
		input_array_arg!(src_disp);
		output_array_arg!(dst_disp);
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_drawColorDisp_const__InputArrayR_const__OutputArrayR_int(src_disp.as_raw__InputArray(), dst_disp.as_raw__OutputArray(), ndisp, ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// 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.
	///
	/// ## C++ default parameters
	/// * stream: Stream::Null()
	#[inline]
	pub fn draw_color_disp(src_disp: &impl ToInputArray, dst_disp: &mut impl ToOutputArray, ndisp: i32, stream: &mut impl core::StreamTrait) -> Result<()> {
		input_array_arg!(src_disp);
		output_array_arg!(dst_disp);
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_drawColorDisp_const__InputArrayR_const__OutputArrayR_int_StreamR(src_disp.as_raw__InputArray(), dst_disp.as_raw__OutputArray(), ndisp, stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// ## Note
	/// This alternative version of [reproject_image_to_3d_1] function uses the following default values for its arguments:
	/// * dst_cn: 4
	/// * stream: Stream::Null()
	#[inline]
	pub fn reproject_image_to_3d_1_def(mut disp: impl core::GpuMatTrait, xyzw: &mut impl core::GpuMatTrait, mut q: impl core::MatTrait) -> Result<()> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_reprojectImageTo3D_GpuMat_GpuMatR_Mat(disp.as_raw_mut_GpuMat(), xyzw.as_raw_mut_GpuMat(), q.as_raw_mut_Mat(), ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// ## C++ default parameters
	/// * dst_cn: 4
	/// * stream: Stream::Null()
	#[inline]
	pub fn reproject_image_to_3d_1(mut disp: impl core::GpuMatTrait, xyzw: &mut impl core::GpuMatTrait, mut q: impl core::MatTrait, dst_cn: i32, stream: &mut impl core::StreamTrait) -> Result<()> {
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_reprojectImageTo3D_GpuMat_GpuMatR_Mat_int_StreamR(disp.as_raw_mut_GpuMat(), xyzw.as_raw_mut_GpuMat(), q.as_raw_mut_Mat(), dst_cn, stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// 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: ![inline formula](https://latex.codecogs.com/png.latex?4%20%5Ctimes%204) 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.
	/// ## See also
	/// reprojectImageTo3D
	///
	/// ## Note
	/// This alternative version of [reproject_image_to_3d] function uses the following default values for its arguments:
	/// * dst_cn: 4
	/// * stream: Stream::Null()
	#[inline]
	pub fn reproject_image_to_3d_def(disp: &impl ToInputArray, xyzw: &mut impl ToOutputArray, q: &impl ToInputArray) -> Result<()> {
		input_array_arg!(disp);
		output_array_arg!(xyzw);
		input_array_arg!(q);
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_reprojectImageTo3D_const__InputArrayR_const__OutputArrayR_const__InputArrayR(disp.as_raw__InputArray(), xyzw.as_raw__OutputArray(), q.as_raw__InputArray(), ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// 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: ![inline formula](https://latex.codecogs.com/png.latex?4%20%5Ctimes%204) 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.
	/// ## See also
	/// reprojectImageTo3D
	///
	/// ## C++ default parameters
	/// * dst_cn: 4
	/// * stream: Stream::Null()
	#[inline]
	pub fn reproject_image_to_3d(disp: &impl ToInputArray, xyzw: &mut impl ToOutputArray, q: &impl ToInputArray, dst_cn: i32, stream: &mut impl core::StreamTrait) -> Result<()> {
		input_array_arg!(disp);
		output_array_arg!(xyzw);
		input_array_arg!(q);
		return_send!(via ocvrs_return);
		unsafe { sys::cv_cuda_reprojectImageTo3D_const__InputArrayR_const__OutputArrayR_const__InputArrayR_int_StreamR(disp.as_raw__InputArray(), xyzw.as_raw__OutputArray(), q.as_raw__InputArray(), dst_cn, stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
		return_receive!(ocvrs_return => ret);
		let ret = ret.into_result()?;
		Ok(ret)
	}

	/// Class refining a disparity map using joint bilateral filtering. :
	///
	/// The class implements [Yang2010](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_Yang2010) algorithm.
	pub struct CUDA_DisparityBilateralFilter {
		ptr: *mut c_void,
	}

	opencv_type_boxed! { CUDA_DisparityBilateralFilter }

	impl Drop for CUDA_DisparityBilateralFilter {
		#[inline]
		fn drop(&mut self) {
			unsafe { sys::cv_cuda_DisparityBilateralFilter_delete(self.as_raw_mut_CUDA_DisparityBilateralFilter()) };
		}
	}

	unsafe impl Send for CUDA_DisparityBilateralFilter {}

	/// Constant methods for [crate::cudastereo::CUDA_DisparityBilateralFilter]
	pub trait CUDA_DisparityBilateralFilterTraitConst: core::AlgorithmTraitConst {
		fn as_raw_CUDA_DisparityBilateralFilter(&self) -> *const c_void;

		#[inline]
		fn get_num_disparities(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getNumDisparities_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn get_radius(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getRadius_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn get_num_iters(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getNumIters_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// truncation of data continuity
		#[inline]
		fn get_edge_threshold(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getEdgeThreshold_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// truncation of disparity continuity
		#[inline]
		fn get_max_disc_threshold(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getMaxDiscThreshold_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// filter range sigma
		#[inline]
		fn get_sigma_range(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_getSigmaRange_const(self.as_raw_CUDA_DisparityBilateralFilter(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	/// Mutable methods for [crate::cudastereo::CUDA_DisparityBilateralFilter]
	pub trait CUDA_DisparityBilateralFilterTrait: core::AlgorithmTrait + crate::cudastereo::CUDA_DisparityBilateralFilterTraitConst {
		fn as_raw_mut_CUDA_DisparityBilateralFilter(&mut self) -> *mut c_void;

		/// Refines a disparity map using joint bilateral filtering.
		///
		/// ## Parameters
		/// * disparity: Input disparity map. CV_8UC1 and CV_16SC1 types are supported.
		/// * image: Input image. CV_8UC1 and CV_8UC3 types are supported.
		/// * dst: Destination disparity map. It has the same size and type as disparity .
		/// * stream: Stream for the asynchronous version.
		///
		/// ## C++ default parameters
		/// * stream: Stream::Null()
		#[inline]
		fn apply(&mut self, disparity: &impl ToInputArray, image: &impl ToInputArray, dst: &mut impl ToOutputArray, stream: &mut impl core::StreamTrait) -> Result<()> {
			input_array_arg!(disparity);
			input_array_arg!(image);
			output_array_arg!(dst);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_apply_const__InputArrayR_const__InputArrayR_const__OutputArrayR_StreamR(self.as_raw_mut_CUDA_DisparityBilateralFilter(), disparity.as_raw__InputArray(), image.as_raw__InputArray(), dst.as_raw__OutputArray(), stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// Refines a disparity map using joint bilateral filtering.
		///
		/// ## Parameters
		/// * disparity: Input disparity map. CV_8UC1 and CV_16SC1 types are supported.
		/// * image: Input image. CV_8UC1 and CV_8UC3 types are supported.
		/// * dst: Destination disparity map. It has the same size and type as disparity .
		/// * stream: Stream for the asynchronous version.
		///
		/// ## Note
		/// This alternative version of [CUDA_DisparityBilateralFilterTrait::apply] function uses the following default values for its arguments:
		/// * stream: Stream::Null()
		#[inline]
		fn apply_def(&mut self, disparity: &impl ToInputArray, image: &impl ToInputArray, dst: &mut impl ToOutputArray) -> Result<()> {
			input_array_arg!(disparity);
			input_array_arg!(image);
			output_array_arg!(dst);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_apply_const__InputArrayR_const__InputArrayR_const__OutputArrayR(self.as_raw_mut_CUDA_DisparityBilateralFilter(), disparity.as_raw__InputArray(), image.as_raw__InputArray(), dst.as_raw__OutputArray(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_num_disparities(&mut self, num_disparities: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setNumDisparities_int(self.as_raw_mut_CUDA_DisparityBilateralFilter(), num_disparities, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_radius(&mut self, radius: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setRadius_int(self.as_raw_mut_CUDA_DisparityBilateralFilter(), radius, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_num_iters(&mut self, iters: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setNumIters_int(self.as_raw_mut_CUDA_DisparityBilateralFilter(), iters, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_edge_threshold(&mut self, edge_threshold: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setEdgeThreshold_double(self.as_raw_mut_CUDA_DisparityBilateralFilter(), edge_threshold, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_max_disc_threshold(&mut self, max_disc_threshold: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setMaxDiscThreshold_double(self.as_raw_mut_CUDA_DisparityBilateralFilter(), max_disc_threshold, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_sigma_range(&mut self, sigma_range: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_DisparityBilateralFilter_setSigmaRange_double(self.as_raw_mut_CUDA_DisparityBilateralFilter(), sigma_range, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	impl std::fmt::Debug for CUDA_DisparityBilateralFilter {
		#[inline]
		fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
			f.debug_struct("CUDA_DisparityBilateralFilter")
				.finish()
		}
	}

	boxed_cast_base! { CUDA_DisparityBilateralFilter, core::Algorithm, cv_cuda_DisparityBilateralFilter_to_Algorithm }

	impl core::AlgorithmTraitConst for CUDA_DisparityBilateralFilter {
		#[inline] fn as_raw_Algorithm(&self) -> *const c_void { self.as_raw() }
	}

	impl core::AlgorithmTrait for CUDA_DisparityBilateralFilter {
		#[inline] fn as_raw_mut_Algorithm(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_DisparityBilateralFilter, core::AlgorithmTraitConst, as_raw_Algorithm, core::AlgorithmTrait, as_raw_mut_Algorithm }

	impl crate::cudastereo::CUDA_DisparityBilateralFilterTraitConst for CUDA_DisparityBilateralFilter {
		#[inline] fn as_raw_CUDA_DisparityBilateralFilter(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_DisparityBilateralFilterTrait for CUDA_DisparityBilateralFilter {
		#[inline] fn as_raw_mut_CUDA_DisparityBilateralFilter(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_DisparityBilateralFilter, crate::cudastereo::CUDA_DisparityBilateralFilterTraitConst, as_raw_CUDA_DisparityBilateralFilter, crate::cudastereo::CUDA_DisparityBilateralFilterTrait, as_raw_mut_CUDA_DisparityBilateralFilter }

	/// Class computing stereo correspondence (disparity map) using the block matching algorithm. :
	/// ## See also
	/// StereoBM
	pub struct CUDA_StereoBM {
		ptr: *mut c_void,
	}

	opencv_type_boxed! { CUDA_StereoBM }

	impl Drop for CUDA_StereoBM {
		#[inline]
		fn drop(&mut self) {
			unsafe { sys::cv_cuda_StereoBM_delete(self.as_raw_mut_CUDA_StereoBM()) };
		}
	}

	unsafe impl Send for CUDA_StereoBM {}

	/// Constant methods for [crate::cudastereo::CUDA_StereoBM]
	pub trait CUDA_StereoBMTraitConst: crate::calib3d::StereoBMTraitConst {
		fn as_raw_CUDA_StereoBM(&self) -> *const c_void;

	}

	/// Mutable methods for [crate::cudastereo::CUDA_StereoBM]
	pub trait CUDA_StereoBMTrait: crate::calib3d::StereoBMTrait + crate::cudastereo::CUDA_StereoBMTraitConst {
		fn as_raw_mut_CUDA_StereoBM(&mut self) -> *mut c_void;

		#[inline]
		fn compute(&mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl core::StreamTrait) -> Result<()> {
			input_array_arg!(left);
			input_array_arg!(right);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBM_compute_const__InputArrayR_const__InputArrayR_const__OutputArrayR_StreamR(self.as_raw_mut_CUDA_StereoBM(), left.as_raw__InputArray(), right.as_raw__InputArray(), disparity.as_raw__OutputArray(), stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	impl std::fmt::Debug for CUDA_StereoBM {
		#[inline]
		fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
			f.debug_struct("CUDA_StereoBM")
				.finish()
		}
	}

	boxed_cast_base! { CUDA_StereoBM, core::Algorithm, cv_cuda_StereoBM_to_Algorithm }

	boxed_cast_base! { CUDA_StereoBM, crate::calib3d::StereoBM, cv_cuda_StereoBM_to_StereoBM }

	boxed_cast_base! { CUDA_StereoBM, crate::calib3d::StereoMatcher, cv_cuda_StereoBM_to_StereoMatcher }

	impl core::AlgorithmTraitConst for CUDA_StereoBM {
		#[inline] fn as_raw_Algorithm(&self) -> *const c_void { self.as_raw() }
	}

	impl core::AlgorithmTrait for CUDA_StereoBM {
		#[inline] fn as_raw_mut_Algorithm(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBM, core::AlgorithmTraitConst, as_raw_Algorithm, core::AlgorithmTrait, as_raw_mut_Algorithm }

	impl crate::calib3d::StereoBMTraitConst for CUDA_StereoBM {
		#[inline] fn as_raw_StereoBM(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoBMTrait for CUDA_StereoBM {
		#[inline] fn as_raw_mut_StereoBM(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBM, crate::calib3d::StereoBMTraitConst, as_raw_StereoBM, crate::calib3d::StereoBMTrait, as_raw_mut_StereoBM }

	impl crate::calib3d::StereoMatcherTraitConst for CUDA_StereoBM {
		#[inline] fn as_raw_StereoMatcher(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoMatcherTrait for CUDA_StereoBM {
		#[inline] fn as_raw_mut_StereoMatcher(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBM, crate::calib3d::StereoMatcherTraitConst, as_raw_StereoMatcher, crate::calib3d::StereoMatcherTrait, as_raw_mut_StereoMatcher }

	impl crate::cudastereo::CUDA_StereoBMTraitConst for CUDA_StereoBM {
		#[inline] fn as_raw_CUDA_StereoBM(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_StereoBMTrait for CUDA_StereoBM {
		#[inline] fn as_raw_mut_CUDA_StereoBM(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBM, crate::cudastereo::CUDA_StereoBMTraitConst, as_raw_CUDA_StereoBM, crate::cudastereo::CUDA_StereoBMTrait, as_raw_mut_CUDA_StereoBM }

	/// Class computing stereo correspondence using the belief propagation algorithm. :
	///
	/// The class implements algorithm described in [Felzenszwalb2006](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_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:
	///
	///    ![block formula](https://latex.codecogs.com/png.latex?width%20%5C%5F%20step%20%20%5Ccdot%20height%20%20%5Ccdot%20ndisp%20%20%5Ccdot%204%20%20%5Ccdot%20%281%20%2B%200%2E25%29)
	///
	///    and for data cost storage:
	///
	///    ![block formula](https://latex.codecogs.com/png.latex?width%5C%5Fstep%20%5Ccdot%20height%20%5Ccdot%20ndisp%20%5Ccdot%20%281%20%2B%200%2E25%20%2B%200%2E0625%20%2B%20%20%5Cdotsm%20%2B%20%5Cfrac%7B1%7D%7B4%5E%7Blevels%7D%7D%29)
	///
	///    width_step is the number of bytes in a line including padding.
	///
	/// StereoBeliefPropagation uses a truncated linear model for the data cost and discontinuity terms:
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?DataCost%20%3D%20data%20%5C%5F%20weight%20%20%5Ccdot%20%5Cmin%20%28%20%5Clvert%20Img%5FLeft%28x%2Cy%29%2DImg%5FRight%28x%2Dd%2Cy%29%20%20%5Crvert%20%2C%20max%20%5C%5F%20data%20%5C%5F%20term%29)
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?DiscTerm%20%3D%20%20%5Cmin%20%28disc%20%5C%5F%20single%20%5C%5F%20jump%20%20%5Ccdot%20%5Clvert%20f%5F1%2Df%5F2%20%20%5Crvert%20%2C%20max%20%5C%5F%20disc%20%5C%5F%20term%29)
	///
	/// For more details, see [Felzenszwalb2006](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_Felzenszwalb2006) .
	///
	/// By default, 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:
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?10%20%20%5Ccdot%202%5E%7Blevels%2D1%7D%20%20%5Ccdot%20max%20%5C%5F%20data%20%5C%5F%20term%20%3C%20SHRT%20%5C%5F%20MAX)
	/// ## See also
	/// StereoMatcher
	pub struct CUDA_StereoBeliefPropagation {
		ptr: *mut c_void,
	}

	opencv_type_boxed! { CUDA_StereoBeliefPropagation }

	impl Drop for CUDA_StereoBeliefPropagation {
		#[inline]
		fn drop(&mut self) {
			unsafe { sys::cv_cuda_StereoBeliefPropagation_delete(self.as_raw_mut_CUDA_StereoBeliefPropagation()) };
		}
	}

	unsafe impl Send for CUDA_StereoBeliefPropagation {}

	impl CUDA_StereoBeliefPropagation {
		/// Uses a heuristic method to compute the recommended parameters ( ndisp, iters and levels ) for the
		/// specified image size ( width and height ).
		#[inline]
		pub fn estimate_recommended_params(width: i32, height: i32, ndisp: &mut i32, iters: &mut i32, levels: &mut i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_estimateRecommendedParams_int_int_intR_intR_intR(width, height, ndisp, iters, levels, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	/// Constant methods for [crate::cudastereo::CUDA_StereoBeliefPropagation]
	pub trait CUDA_StereoBeliefPropagationTraitConst: crate::calib3d::StereoMatcherTraitConst {
		fn as_raw_CUDA_StereoBeliefPropagation(&self) -> *const c_void;

		/// number of BP iterations on each level
		#[inline]
		fn get_num_iters(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getNumIters_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// number of levels
		#[inline]
		fn get_num_levels(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getNumLevels_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// truncation of data cost
		#[inline]
		fn get_max_data_term(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getMaxDataTerm_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// data weight
		#[inline]
		fn get_data_weight(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getDataWeight_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// truncation of discontinuity cost
		#[inline]
		fn get_max_disc_term(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getMaxDiscTerm_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// discontinuity single jump
		#[inline]
		fn get_disc_single_jump(&self) -> Result<f64> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getDiscSingleJump_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// type for messages (CV_16SC1 or CV_32FC1)
		#[inline]
		fn get_msg_type(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_getMsgType_const(self.as_raw_CUDA_StereoBeliefPropagation(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	/// Mutable methods for [crate::cudastereo::CUDA_StereoBeliefPropagation]
	pub trait CUDA_StereoBeliefPropagationTrait: crate::calib3d::StereoMatcherTrait + crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst {
		fn as_raw_mut_CUDA_StereoBeliefPropagation(&mut self) -> *mut c_void;

		/// Enables the stereo correspondence operator that finds the disparity for the specified data cost.
		///
		/// ## Parameters
		/// * data: User-specified data cost, a matrix of msg_type type and
		/// Size(\<image columns\>\*ndisp, \<image rows\>) size.
		/// * disparity: Output disparity map. If disparity is empty, the output type is CV_16SC1 .
		/// Otherwise, the type is retained. In 16-bit signed format, the disparity values do not have
		/// fractional bits.
		/// * stream: Stream for the asynchronous version.
		///
		/// ## Overloaded parameters
		#[inline]
		fn compute(&mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl core::StreamTrait) -> Result<()> {
			input_array_arg!(left);
			input_array_arg!(right);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_compute_const__InputArrayR_const__InputArrayR_const__OutputArrayR_StreamR(self.as_raw_mut_CUDA_StereoBeliefPropagation(), left.as_raw__InputArray(), right.as_raw__InputArray(), disparity.as_raw__OutputArray(), stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// Enables the stereo correspondence operator that finds the disparity for the specified data cost.
		///
		/// ## Parameters
		/// * data: User-specified data cost, a matrix of msg_type type and
		/// Size(\<image columns\>\*ndisp, \<image rows\>) size.
		/// * disparity: Output disparity map. If disparity is empty, the output type is CV_16SC1 .
		/// Otherwise, the type is retained. In 16-bit signed format, the disparity values do not have
		/// fractional bits.
		/// * stream: Stream for the asynchronous version.
		///
		/// ## C++ default parameters
		/// * stream: Stream::Null()
		#[inline]
		fn compute_1(&mut self, data: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl core::StreamTrait) -> Result<()> {
			input_array_arg!(data);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_compute_const__InputArrayR_const__OutputArrayR_StreamR(self.as_raw_mut_CUDA_StereoBeliefPropagation(), data.as_raw__InputArray(), disparity.as_raw__OutputArray(), stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// Enables the stereo correspondence operator that finds the disparity for the specified data cost.
		///
		/// ## Parameters
		/// * data: User-specified data cost, a matrix of msg_type type and
		/// Size(\<image columns\>\*ndisp, \<image rows\>) size.
		/// * disparity: Output disparity map. If disparity is empty, the output type is CV_16SC1 .
		/// Otherwise, the type is retained. In 16-bit signed format, the disparity values do not have
		/// fractional bits.
		/// * stream: Stream for the asynchronous version.
		///
		/// ## Note
		/// This alternative version of [CUDA_StereoBeliefPropagationTrait::compute] function uses the following default values for its arguments:
		/// * stream: Stream::Null()
		#[inline]
		fn compute_def(&mut self, data: &impl ToInputArray, disparity: &mut impl ToOutputArray) -> Result<()> {
			input_array_arg!(data);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_compute_const__InputArrayR_const__OutputArrayR(self.as_raw_mut_CUDA_StereoBeliefPropagation(), data.as_raw__InputArray(), disparity.as_raw__OutputArray(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_num_iters(&mut self, iters: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setNumIters_int(self.as_raw_mut_CUDA_StereoBeliefPropagation(), iters, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_num_levels(&mut self, levels: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setNumLevels_int(self.as_raw_mut_CUDA_StereoBeliefPropagation(), levels, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_max_data_term(&mut self, max_data_term: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setMaxDataTerm_double(self.as_raw_mut_CUDA_StereoBeliefPropagation(), max_data_term, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_data_weight(&mut self, data_weight: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setDataWeight_double(self.as_raw_mut_CUDA_StereoBeliefPropagation(), data_weight, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_max_disc_term(&mut self, max_disc_term: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setMaxDiscTerm_double(self.as_raw_mut_CUDA_StereoBeliefPropagation(), max_disc_term, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_disc_single_jump(&mut self, disc_single_jump: f64) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setDiscSingleJump_double(self.as_raw_mut_CUDA_StereoBeliefPropagation(), disc_single_jump, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_msg_type(&mut self, msg_type: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoBeliefPropagation_setMsgType_int(self.as_raw_mut_CUDA_StereoBeliefPropagation(), msg_type, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	impl std::fmt::Debug for CUDA_StereoBeliefPropagation {
		#[inline]
		fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
			f.debug_struct("CUDA_StereoBeliefPropagation")
				.finish()
		}
	}

	boxed_cast_base! { CUDA_StereoBeliefPropagation, core::Algorithm, cv_cuda_StereoBeliefPropagation_to_Algorithm }

	boxed_cast_base! { CUDA_StereoBeliefPropagation, crate::calib3d::StereoMatcher, cv_cuda_StereoBeliefPropagation_to_StereoMatcher }

	boxed_cast_descendant! { CUDA_StereoBeliefPropagation, crate::cudastereo::CUDA_StereoConstantSpaceBP, cv_cuda_StereoBeliefPropagation_to_CUDA_StereoConstantSpaceBP }

	impl core::AlgorithmTraitConst for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_Algorithm(&self) -> *const c_void { self.as_raw() }
	}

	impl core::AlgorithmTrait for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_mut_Algorithm(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBeliefPropagation, core::AlgorithmTraitConst, as_raw_Algorithm, core::AlgorithmTrait, as_raw_mut_Algorithm }

	impl crate::calib3d::StereoMatcherTraitConst for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_StereoMatcher(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoMatcherTrait for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_mut_StereoMatcher(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBeliefPropagation, crate::calib3d::StereoMatcherTraitConst, as_raw_StereoMatcher, crate::calib3d::StereoMatcherTrait, as_raw_mut_StereoMatcher }

	impl crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_CUDA_StereoBeliefPropagation(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_StereoBeliefPropagationTrait for CUDA_StereoBeliefPropagation {
		#[inline] fn as_raw_mut_CUDA_StereoBeliefPropagation(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoBeliefPropagation, crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst, as_raw_CUDA_StereoBeliefPropagation, crate::cudastereo::CUDA_StereoBeliefPropagationTrait, as_raw_mut_CUDA_StereoBeliefPropagation }

	/// Class computing stereo correspondence using the constant space belief propagation algorithm. :
	///
	/// The class implements algorithm described in [Yang2010](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_Yang2010) . StereoConstantSpaceBP supports both local
	/// minimum and global minimum data cost initialization algorithms. 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 .
	///
	/// StereoConstantSpaceBP uses a truncated linear model for the data cost and discontinuity terms:
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?DataCost%20%3D%20data%20%5C%5F%20weight%20%20%5Ccdot%20%5Cmin%20%28%20%5Clvert%20I%5F2%2DI%5F1%20%20%5Crvert%20%2C%20max%20%5C%5F%20data%20%5C%5F%20term%29)
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?DiscTerm%20%3D%20%20%5Cmin%20%28disc%20%5C%5F%20single%20%5C%5F%20jump%20%20%5Ccdot%20%5Clvert%20f%5F1%2Df%5F2%20%20%5Crvert%20%2C%20max%20%5C%5F%20disc%20%5C%5F%20term%29)
	///
	/// For more details, see [Yang2010](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_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
	/// performance. To avoid an overflow in this case, the parameters must satisfy the following
	/// requirement:
	///
	/// ![block formula](https://latex.codecogs.com/png.latex?10%20%20%5Ccdot%202%5E%7Blevels%2D1%7D%20%20%5Ccdot%20max%20%5C%5F%20data%20%5C%5F%20term%20%3C%20SHRT%20%5C%5F%20MAX)
	pub struct CUDA_StereoConstantSpaceBP {
		ptr: *mut c_void,
	}

	opencv_type_boxed! { CUDA_StereoConstantSpaceBP }

	impl Drop for CUDA_StereoConstantSpaceBP {
		#[inline]
		fn drop(&mut self) {
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_delete(self.as_raw_mut_CUDA_StereoConstantSpaceBP()) };
		}
	}

	unsafe impl Send for CUDA_StereoConstantSpaceBP {}

	impl CUDA_StereoConstantSpaceBP {
		/// Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified
		/// image size (widthand height).
		#[inline]
		pub fn estimate_recommended_params(width: i32, height: i32, ndisp: &mut i32, iters: &mut i32, levels: &mut i32, nr_plane: &mut i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_estimateRecommendedParams_int_int_intR_intR_intR_intR(width, height, ndisp, iters, levels, nr_plane, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	/// Constant methods for [crate::cudastereo::CUDA_StereoConstantSpaceBP]
	pub trait CUDA_StereoConstantSpaceBPTraitConst: crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst {
		fn as_raw_CUDA_StereoConstantSpaceBP(&self) -> *const c_void;

		/// number of active disparity on the first level
		#[inline]
		fn get_nr_plane(&self) -> Result<i32> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_getNrPlane_const(self.as_raw_CUDA_StereoConstantSpaceBP(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn get_use_local_init_data_cost(&self) -> Result<bool> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_getUseLocalInitDataCost_const(self.as_raw_CUDA_StereoConstantSpaceBP(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	/// Mutable methods for [crate::cudastereo::CUDA_StereoConstantSpaceBP]
	pub trait CUDA_StereoConstantSpaceBPTrait: crate::cudastereo::CUDA_StereoBeliefPropagationTrait + crate::cudastereo::CUDA_StereoConstantSpaceBPTraitConst {
		fn as_raw_mut_CUDA_StereoConstantSpaceBP(&mut self) -> *mut c_void;

		#[inline]
		fn set_nr_plane(&mut self, nr_plane: i32) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_setNrPlane_int(self.as_raw_mut_CUDA_StereoConstantSpaceBP(), nr_plane, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		#[inline]
		fn set_use_local_init_data_cost(&mut self, use_local_init_data_cost: bool) -> Result<()> {
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoConstantSpaceBP_setUseLocalInitDataCost_bool(self.as_raw_mut_CUDA_StereoConstantSpaceBP(), use_local_init_data_cost, ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	impl std::fmt::Debug for CUDA_StereoConstantSpaceBP {
		#[inline]
		fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
			f.debug_struct("CUDA_StereoConstantSpaceBP")
				.finish()
		}
	}

	boxed_cast_base! { CUDA_StereoConstantSpaceBP, core::Algorithm, cv_cuda_StereoConstantSpaceBP_to_Algorithm }

	boxed_cast_base! { CUDA_StereoConstantSpaceBP, crate::cudastereo::CUDA_StereoBeliefPropagation, cv_cuda_StereoConstantSpaceBP_to_CUDA_StereoBeliefPropagation }

	boxed_cast_base! { CUDA_StereoConstantSpaceBP, crate::calib3d::StereoMatcher, cv_cuda_StereoConstantSpaceBP_to_StereoMatcher }

	impl core::AlgorithmTraitConst for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_Algorithm(&self) -> *const c_void { self.as_raw() }
	}

	impl core::AlgorithmTrait for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_mut_Algorithm(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoConstantSpaceBP, core::AlgorithmTraitConst, as_raw_Algorithm, core::AlgorithmTrait, as_raw_mut_Algorithm }

	impl crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_CUDA_StereoBeliefPropagation(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_StereoBeliefPropagationTrait for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_mut_CUDA_StereoBeliefPropagation(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoConstantSpaceBP, crate::cudastereo::CUDA_StereoBeliefPropagationTraitConst, as_raw_CUDA_StereoBeliefPropagation, crate::cudastereo::CUDA_StereoBeliefPropagationTrait, as_raw_mut_CUDA_StereoBeliefPropagation }

	impl crate::calib3d::StereoMatcherTraitConst for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_StereoMatcher(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoMatcherTrait for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_mut_StereoMatcher(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoConstantSpaceBP, crate::calib3d::StereoMatcherTraitConst, as_raw_StereoMatcher, crate::calib3d::StereoMatcherTrait, as_raw_mut_StereoMatcher }

	impl crate::cudastereo::CUDA_StereoConstantSpaceBPTraitConst for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_CUDA_StereoConstantSpaceBP(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_StereoConstantSpaceBPTrait for CUDA_StereoConstantSpaceBP {
		#[inline] fn as_raw_mut_CUDA_StereoConstantSpaceBP(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoConstantSpaceBP, crate::cudastereo::CUDA_StereoConstantSpaceBPTraitConst, as_raw_CUDA_StereoConstantSpaceBP, crate::cudastereo::CUDA_StereoConstantSpaceBPTrait, as_raw_mut_CUDA_StereoConstantSpaceBP }

	/// The class implements the modified H. Hirschmuller algorithm [HH08](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_HH08).
	/// Limitation and difference are as follows:
	///
	/// *   By default, the algorithm uses only 4 directions which are horizontal and vertical path instead of 8.
	/// Set mode=StereoSGM::MODE_HH in createStereoSGM to run the full variant of the algorithm.
	/// *   Mutual Information cost function is not implemented.
	/// Instead, Center-Symmetric Census Transform with ![inline formula](https://latex.codecogs.com/png.latex?9%20%5Ctimes%207) window size from [Spangenberg2013](https://docs.opencv.org/4.11.0/d0/de3/citelist.html#CITEREF_Spangenberg2013)
	/// is used for robustness.
	/// ## See also
	/// cv::StereoSGBM
	pub struct CUDA_StereoSGM {
		ptr: *mut c_void,
	}

	opencv_type_boxed! { CUDA_StereoSGM }

	impl Drop for CUDA_StereoSGM {
		#[inline]
		fn drop(&mut self) {
			unsafe { sys::cv_cuda_StereoSGM_delete(self.as_raw_mut_CUDA_StereoSGM()) };
		}
	}

	unsafe impl Send for CUDA_StereoSGM {}

	/// Constant methods for [crate::cudastereo::CUDA_StereoSGM]
	pub trait CUDA_StereoSGMTraitConst: crate::calib3d::StereoSGBMTraitConst {
		fn as_raw_CUDA_StereoSGM(&self) -> *const c_void;

	}

	/// Mutable methods for [crate::cudastereo::CUDA_StereoSGM]
	pub trait CUDA_StereoSGMTrait: crate::calib3d::StereoSGBMTrait + crate::cudastereo::CUDA_StereoSGMTraitConst {
		fn as_raw_mut_CUDA_StereoSGM(&mut self) -> *mut c_void;

		/// Computes disparity map for the specified stereo pair
		///
		/// ## Parameters
		/// * left: Left 8-bit or 16-bit unsigned single-channel image.
		/// * right: Right image of the same size and the same type as the left one.
		/// * disparity: Output disparity map. It has the same size as the input images.
		/// StereoSGM computes 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits).
		#[inline]
		fn compute(&mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray) -> Result<()> {
			input_array_arg!(left);
			input_array_arg!(right);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoSGM_compute_const__InputArrayR_const__InputArrayR_const__OutputArrayR(self.as_raw_mut_CUDA_StereoSGM(), left.as_raw__InputArray(), right.as_raw__InputArray(), disparity.as_raw__OutputArray(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

		/// Computes disparity map with specified CUDA Stream
		/// ## See also
		/// compute
		#[inline]
		fn compute_with_stream(&mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl core::StreamTrait) -> Result<()> {
			input_array_arg!(left);
			input_array_arg!(right);
			output_array_arg!(disparity);
			return_send!(via ocvrs_return);
			unsafe { sys::cv_cuda_StereoSGM_compute_const__InputArrayR_const__InputArrayR_const__OutputArrayR_StreamR(self.as_raw_mut_CUDA_StereoSGM(), left.as_raw__InputArray(), right.as_raw__InputArray(), disparity.as_raw__OutputArray(), stream.as_raw_mut_Stream(), ocvrs_return.as_mut_ptr()) };
			return_receive!(ocvrs_return => ret);
			let ret = ret.into_result()?;
			Ok(ret)
		}

	}

	impl std::fmt::Debug for CUDA_StereoSGM {
		#[inline]
		fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
			f.debug_struct("CUDA_StereoSGM")
				.finish()
		}
	}

	boxed_cast_base! { CUDA_StereoSGM, core::Algorithm, cv_cuda_StereoSGM_to_Algorithm }

	boxed_cast_base! { CUDA_StereoSGM, crate::calib3d::StereoMatcher, cv_cuda_StereoSGM_to_StereoMatcher }

	boxed_cast_base! { CUDA_StereoSGM, crate::calib3d::StereoSGBM, cv_cuda_StereoSGM_to_StereoSGBM }

	impl core::AlgorithmTraitConst for CUDA_StereoSGM {
		#[inline] fn as_raw_Algorithm(&self) -> *const c_void { self.as_raw() }
	}

	impl core::AlgorithmTrait for CUDA_StereoSGM {
		#[inline] fn as_raw_mut_Algorithm(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoSGM, core::AlgorithmTraitConst, as_raw_Algorithm, core::AlgorithmTrait, as_raw_mut_Algorithm }

	impl crate::calib3d::StereoMatcherTraitConst for CUDA_StereoSGM {
		#[inline] fn as_raw_StereoMatcher(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoMatcherTrait for CUDA_StereoSGM {
		#[inline] fn as_raw_mut_StereoMatcher(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoSGM, crate::calib3d::StereoMatcherTraitConst, as_raw_StereoMatcher, crate::calib3d::StereoMatcherTrait, as_raw_mut_StereoMatcher }

	impl crate::calib3d::StereoSGBMTraitConst for CUDA_StereoSGM {
		#[inline] fn as_raw_StereoSGBM(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::calib3d::StereoSGBMTrait for CUDA_StereoSGM {
		#[inline] fn as_raw_mut_StereoSGBM(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoSGM, crate::calib3d::StereoSGBMTraitConst, as_raw_StereoSGBM, crate::calib3d::StereoSGBMTrait, as_raw_mut_StereoSGBM }

	impl crate::cudastereo::CUDA_StereoSGMTraitConst for CUDA_StereoSGM {
		#[inline] fn as_raw_CUDA_StereoSGM(&self) -> *const c_void { self.as_raw() }
	}

	impl crate::cudastereo::CUDA_StereoSGMTrait for CUDA_StereoSGM {
		#[inline] fn as_raw_mut_CUDA_StereoSGM(&mut self) -> *mut c_void { self.as_raw_mut() }
	}

	boxed_ref! { CUDA_StereoSGM, crate::cudastereo::CUDA_StereoSGMTraitConst, as_raw_CUDA_StereoSGM, crate::cudastereo::CUDA_StereoSGMTrait, as_raw_mut_CUDA_StereoSGM }

}