:param keypoints: Keypoints. Keypoints for which a descriptor cannot be computed are removed. Sometimes new keypoints can be added, for example: ``SIFT`` duplicates keypoint with several dominant orientations (for each orientation).
:param descriptors: Descriptors. Row ``i`` is the descriptor for keypoint ``i``.
:param keypoints: Input keypoints collection. ``keypoints[i]`` are keypoints
detected in ``images[i]`` . Keypoints for which a descriptor
cannot be computed are removed.
:param image: Image.
:param descriptors: Descriptor collection. ``descriptors[i]`` are descriptors computed for a ``keypoints[i]`` set.
:param images: Image set.
:param keypoints: Input collection of keypoints. Keypoints for which a descriptor cannot be computed are removed. Sometimes new keypoints can be added, for example: ``SIFT`` duplicates keypoint with several dominant orientations (for each orientation).
:param descriptors: Computed descriptors. In the second variant of the method ``descriptors[i]`` are descriptors computed for a ``keypoints[i]`. Row ``j`` is the ``keypoints`` (or ``keypoints[i]``) is the descriptor for keypoint ``j``-th keypoint.
:param keypoints: Collection of keypoints detected in input images. ``keypoints[i]`` is a set of keypoints detected in ``images[i]`` .
:param keypoints: The detected keypoints. In the second variant of the method ``keypoints[i]`` is a set of keypoints detected in ``images[i]`` .
:param mask: Mask specifying where to look for keypoints (optional). It must be a 8-bit integer matrix with non-zero values in the region of interest.
:param masks: Masks for each input image specifying where to look for keypoints (optional). ``masks[i]`` is a mask for ``images[i]`` . Each element of the ``masks`` vector must be a char matrix with non-zero values in the region of interest.
:param masks: Masks for each input image specifying where to look for keypoints (optional). ``masks[i]`` is a mask for ``images[i]``.
.. ocv:function:: gpu::StereoBeliefPropagation::StereoBeliefPropagation( int ndisp = DEFAULT_NDISP, int iters = DEFAULT_ITERS, int levels = DEFAULT_LEVELS, int msg_type = CV_32F)
...
...
@@ -207,8 +199,6 @@ By default, :ocv:class:`StereoBeliefPropagation` uses floating-point arithmetics
10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX
Uses a heuristic method to compute the recommended parameters (``ndisp``, ``iters`` and ``levels``) for the specified image size (``width`` and ``height``).
Enables the stereo correspondence operator that finds the disparity for the specified rectified stereo pair or data cost.
:param left: Left image. ``CV_8UC1`` , ``CV_8UC3`` and ``CV_8UC4`` types are supported.
:param right: Right image with the same size and the same type as the left one.
:param disparity: Output disparity map. If ``disparity`` is empty, the output type is ``CV_16SC1`` . Otherwise, the output type is ``disparity.type()`` .
:param stream: Stream for the asynchronous version.
:param data: User-specified data cost, a matrix of ``msg_type`` type and ``Size(<image columns>*ndisp, <image rows>)`` size.
:param disparity: Output disparity map. If the matrix is empty, it is created as the ``CV_16SC1`` matrix. Otherwise, the type is retained.
:param disparity: Output disparity map. If ``disparity`` is empty, the output type is ``CV_16SC1`` . Otherwise, the type is retained.
:param stream: Stream for the asynchronous version.
.. index:: gpu::StereoConstantSpaceBP
gpu::StereoConstantSpaceBP
--------------------------
.. ocv:class:: gpu::StereoConstantSpaceBP
...
...
@@ -303,8 +285,6 @@ Class computing stereo correspondence using the constant space belief propagatio
The class implements algorithm described in [Yang2010]_. ``StereoConstantSpaceBP`` supports both local minimum and global minimum data cost initialization algortihms. 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``.
.. ocv:function:: gpu::DisparityBilateralFilter::DisparityBilateralFilter( int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS)
:param stream: Stream for the asynchronous version.
.. index:: gpu::drawColorDisp
gpu::drawColorDisp
----------------------
.. ocv:function:: void gpu::drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp)
...
...
@@ -473,8 +439,6 @@ gpu::drawColorDisp
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.
:param maskCollection: ``GpuMat`` containing a set of masks. It can be obtained from ``std::vector<GpuMat>`` by :ocv:func:`gpu::BruteForceMatcher_GPU::makeGpuCollection` or it may contain a user-defined mask set. This is an empty matrix or one-row matrix where each element is a ``PtrStep`` that points to one mask.
Finds the k best matches for each descriptor from a query set with train descriptors. The function returns detected k (or less if not possible) matches in the increasing order by distance.
Finds the k best matches for each descriptor from a query set with train descriptors. The function returns detected k (or less if not possible) matches in the increasing order by distance. Results are stored in the GPU memory.
Finds the k best matches for each descriptor from a query set with train descriptors. The function returns detected k (or less if not possible) matches in the increasing order by distance.
:param queryDescs: Query set of descriptors.
:param trainDescs: Training set of descriptors. It is not be added to train descriptors collection stored in the class object.
Downloads ``trainIdx`` and ``distance`` matrices obtained via :ocv:func:`gpu::BruteForceMatcher_GPU::knnMatch` to CPU vector with :ocv:class:`DMatch`. If ``compactResult`` is true, the ``matches`` vector does not contain matches for fully masked-out query descriptors.
For each query descriptor, finds the best matches with a distance less than a given threshold. The function returns detected matches in the increasing order by distance.
For each query descriptor, finds the best matches with a distance less than a given threshold (``maxDistance``). The results are stored in the GPU memory.
For each query descriptor, finds the best matches with a distance less than a given threshold. The function returns detected matches in the increasing order by distance.
:param mask: Mask specifying permissible matches between the input query and train matrices of descriptors.
In contrast to :ocv:func:`gpu::BruteForceMatcher_GPU::knnMatch`, here the results are not sorted by the distance. This function works only on devices with the compute capability >= 1.1.
The methods work only on devices with the compute capability :math:`>=` 1.1.
The third variant of the method stores the results in GPU memory and does not store the points by the distance.
