Struct opencv::stereo::QuasiDenseStereo

pub struct QuasiDenseStereo { /* private fields */ }

Class containing the methods needed for Quasi Dense Stereo computation.

This module contains the code to perform quasi dense stereo matching. The method initially starts with a sparse 3D reconstruction based on feature matching across a stereo image pair and subsequently propagates the structure into neighboring image regions. To obtain initial seed correspondences, the algorithm locates Shi and Tomashi features in the left image of the stereo pair and then tracks them using pyramidal Lucas-Kanade in the right image. To densify the sparse correspondences, the algorithm computes the zero-mean normalized cross-correlation (ZNCC) in small patches around every seed pair and uses it as a quality metric for each match. In this code, we introduce a custom structure to store the location and ZNCC value of correspondences called “Match”. Seed Matches are stored in a priority queue sorted according to their ZNCC value, allowing for the best quality Match to be readily available. The algorithm pops Matches and uses them to extract new matches around them. This is done by considering a small neighboring area around each Seed and retrieving correspondences above a certain texture threshold that are not previously computed. New matches are stored in the seed priority queue and used as seeds. The propagation process ends when no additional matches can be retrieved.

See also

This code represents the work presented in Stoyanov2010. If this code is useful for your work please cite Stoyanov2010.

Also the original growing scheme idea is described in Lhuillier2000

Implementations

impl QuasiDenseStereo

pub fn create( mono_img_size: Size, param_filepath: &str ) -> Result<Ptr<QuasiDenseStereo>>

C++ default parameters

• param_filepath: cv::String()

pub fn create_def(mono_img_size: Size) -> Result<Ptr<QuasiDenseStereo>>

Note

This alternative version of QuasiDenseStereo::create function uses the following default values for its arguments:

• param_filepath: cv::String()

Trait Implementations

impl Boxed for QuasiDenseStereo

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

Wrap the specified raw pointer

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

Return the underlying raw pointer while consuming this wrapper.

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

Return the underlying raw pointer.

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

Return the underlying mutable raw pointer

impl Debug for QuasiDenseStereo

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

Formats the value using the given formatter.

impl Drop for QuasiDenseStereo

fn drop(&mut self)

Executes the destructor for this type.

impl QuasiDenseStereoTrait for QuasiDenseStereo

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

fn set_param(&mut self, val: PropagationParameters)

fn load_parameters(&mut self, filepath: &str) -> Result<i32>

Load a file containing the configuration parameters of the class.

fn save_parameters(&mut self, filepath: &str) -> Result<i32>

Save a file containing all the configuration parameters the class is currently set to.

fn get_sparse_matches( &mut self, s_matches: &mut Vector<MatchQuasiDense> ) -> Result<()>

Get The sparse corresponding points.

fn get_dense_matches( &mut self, dense_matches: &mut Vector<MatchQuasiDense> ) -> Result<()>

Get The dense corresponding points.

fn process( &mut self, img_left: &impl MatTraitConst, img_right: &impl MatTraitConst ) -> Result<()>

Main process of the algorithm. This method computes the sparse seeds and then densifies them.

fn get_match(&mut self, x: i32, y: i32) -> Result<Point2f>

Specify pixel coordinates in the left image and get its corresponding location in the right image.

fn get_disparity(&mut self) -> Result<Mat>

Compute and return the disparity map based on the correspondences found in the “process” method.

impl QuasiDenseStereoTraitConst for QuasiDenseStereo

fn as_raw_QuasiDenseStereo(&self) -> *const c_void

fn param(&self) -> PropagationParameters

impl Send for QuasiDenseStereo