Struct opencv::cudastereo::CUDA_StereoConstantSpaceBP

pub struct CUDA_StereoConstantSpaceBP { /* private fields */ }

Class computing stereo correspondence using the constant space belief propagation algorithm. :

The class implements algorithm described in 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:

For more details, see 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:

Implementations

impl CUDA_StereoConstantSpaceBP

pub fn estimate_recommended_params( width: i32, height: i32, ndisp: &mut i32, iters: &mut i32, levels: &mut i32, nr_plane: &mut i32 ) -> Result<()>

Uses a heuristic method to compute parameters (ndisp, iters, levelsand nrplane) for the specified image size (widthand height).

Trait Implementations

impl AlgorithmTrait for CUDA_StereoConstantSpaceBP

fn as_raw_mut_Algorithm(&mut self) -> *mut c_void

fn clear(&mut self) -> Result<()>

Clears the algorithm state

fn read(&mut self, fn_: &impl FileNodeTraitConst) -> Result<()>

Reads algorithm parameters from a file storage

impl AlgorithmTraitConst for CUDA_StereoConstantSpaceBP

fn as_raw_Algorithm(&self) -> *const c_void

fn write(&self, fs: &mut impl FileStorageTrait) -> Result<()>

Stores algorithm parameters in a file storage

fn write_1(&self, fs: &mut impl FileStorageTrait, name: &str) -> Result<()>

Stores algorithm parameters in a file storage

fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>

@deprecated

fn write_with_name_def(&self, fs: &Ptr<FileStorage>) -> Result<()>

👎Deprecated:

Note

Deprecated: ## Note This alternative version of AlgorithmTraitConst::write_with_name function uses the following default values for its arguments:

fn empty(&self) -> Result<bool>

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read

fn save(&self, filename: &str) -> Result<()>

Saves the algorithm to a file. In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).

fn get_default_name(&self) -> Result<String>

Returns the algorithm string identifier. This string is used as top level xml/yml node tag when the object is saved to a file or string.

impl Boxed for CUDA_StereoConstantSpaceBP

unsafe fn from_raw( ptr: <CUDA_StereoConstantSpaceBP as OpenCVFromExtern>::ExternReceive ) -> Self

Wrap the specified raw pointer

fn into_raw( self ) -> <CUDA_StereoConstantSpaceBP as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw( &self ) -> <CUDA_StereoConstantSpaceBP as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self ) -> <CUDA_StereoConstantSpaceBP as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl CUDA_StereoBeliefPropagationTrait for CUDA_StereoConstantSpaceBP

fn as_raw_mut_CUDA_StereoBeliefPropagation(&mut self) -> *mut c_void

fn compute( &mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl StreamTrait ) -> Result<()>

Enables the stereo correspondence operator that finds the disparity for the specified data cost.

fn compute_1( &mut self, data: &impl ToInputArray, disparity: &mut impl ToOutputArray, stream: &mut impl StreamTrait ) -> Result<()>

Enables the stereo correspondence operator that finds the disparity for the specified data cost.

fn compute_def( &mut self, data: &impl ToInputArray, disparity: &mut impl ToOutputArray ) -> Result<()>

Enables the stereo correspondence operator that finds the disparity for the specified data cost.

fn set_num_iters(&mut self, iters: i32) -> Result<()>

fn set_num_levels(&mut self, levels: i32) -> Result<()>

fn set_max_data_term(&mut self, max_data_term: f64) -> Result<()>

fn set_data_weight(&mut self, data_weight: f64) -> Result<()>

fn set_max_disc_term(&mut self, max_disc_term: f64) -> Result<()>

fn set_disc_single_jump(&mut self, disc_single_jump: f64) -> Result<()>

fn set_msg_type(&mut self, msg_type: i32) -> Result<()>

impl CUDA_StereoBeliefPropagationTraitConst for CUDA_StereoConstantSpaceBP

fn as_raw_CUDA_StereoBeliefPropagation(&self) -> *const c_void

fn get_num_iters(&self) -> Result<i32>

number of BP iterations on each level

fn get_num_levels(&self) -> Result<i32>

number of levels

fn get_max_data_term(&self) -> Result<f64>

truncation of data cost

fn get_data_weight(&self) -> Result<f64>

data weight

fn get_max_disc_term(&self) -> Result<f64>

truncation of discontinuity cost

fn get_disc_single_jump(&self) -> Result<f64>

discontinuity single jump

fn get_msg_type(&self) -> Result<i32>

type for messages (CV_16SC1 or CV_32FC1)

impl CUDA_StereoConstantSpaceBPTrait for CUDA_StereoConstantSpaceBP

fn as_raw_mut_CUDA_StereoConstantSpaceBP(&mut self) -> *mut c_void

fn set_nr_plane(&mut self, nr_plane: i32) -> Result<()>

fn set_use_local_init_data_cost( &mut self, use_local_init_data_cost: bool ) -> Result<()>

impl CUDA_StereoConstantSpaceBPTraitConst for CUDA_StereoConstantSpaceBP

fn as_raw_CUDA_StereoConstantSpaceBP(&self) -> *const c_void

fn get_nr_plane(&self) -> Result<i32>

number of active disparity on the first level

fn get_use_local_init_data_cost(&self) -> Result<bool>

impl Debug for CUDA_StereoConstantSpaceBP

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for CUDA_StereoConstantSpaceBP

fn drop(&mut self)

Executes the destructor for this type.

impl From<CUDA_StereoConstantSpaceBP> for Algorithm

fn from(s: CUDA_StereoConstantSpaceBP) -> Self

Converts to this type from the input type.

impl From<CUDA_StereoConstantSpaceBP> for CUDA_StereoBeliefPropagation

fn from(s: CUDA_StereoConstantSpaceBP) -> Self

Converts to this type from the input type.

impl From<CUDA_StereoConstantSpaceBP> for StereoMatcher

fn from(s: CUDA_StereoConstantSpaceBP) -> Self

Converts to this type from the input type.

impl StereoMatcherTrait for CUDA_StereoConstantSpaceBP

fn as_raw_mut_StereoMatcher(&mut self) -> *mut c_void

fn compute( &mut self, left: &impl ToInputArray, right: &impl ToInputArray, disparity: &mut impl ToOutputArray ) -> Result<()>

Computes disparity map for the specified stereo pair

fn set_min_disparity(&mut self, min_disparity: i32) -> Result<()>

fn set_num_disparities(&mut self, num_disparities: i32) -> Result<()>

fn set_block_size(&mut self, block_size: i32) -> Result<()>

fn set_speckle_window_size(&mut self, speckle_window_size: i32) -> Result<()>

fn set_speckle_range(&mut self, speckle_range: i32) -> Result<()>

fn set_disp12_max_diff(&mut self, disp12_max_diff: i32) -> Result<()>

impl StereoMatcherTraitConst for CUDA_StereoConstantSpaceBP

fn as_raw_StereoMatcher(&self) -> *const c_void

fn get_min_disparity(&self) -> Result<i32>

fn get_num_disparities(&self) -> Result<i32>

fn get_block_size(&self) -> Result<i32>

fn get_speckle_window_size(&self) -> Result<i32>

fn get_speckle_range(&self) -> Result<i32>

fn get_disp12_max_diff(&self) -> Result<i32>

impl TryFrom<CUDA_StereoBeliefPropagation> for CUDA_StereoConstantSpaceBP

type Error = Error

The type returned in the event of a conversion error.

fn try_from(s: CUDA_StereoBeliefPropagation) -> Result<Self>

Performs the conversion.

impl Send for CUDA_StereoConstantSpaceBP