: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 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)
.. 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
...
@@ -207,8 +199,6 @@ By default, :ocv:class:`StereoBeliefPropagation` uses floating-point arithmetics
10 \cdot 2^{levels-1} \cdot max \_ data \_ term < SHRT \_ MAX
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``).
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.
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 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 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 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.
:param stream: Stream for the asynchronous version.
.. index:: gpu::StereoConstantSpaceBP
gpu::StereoConstantSpaceBP
gpu::StereoConstantSpaceBP
--------------------------
--------------------------
.. ocv:class:: gpu::StereoConstantSpaceBP
.. ocv:class:: gpu::StereoConstantSpaceBP
...
@@ -303,8 +285,6 @@ Class computing stereo correspondence using the constant space belief propagatio
...
@@ -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``.
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)
.. ocv:function:: gpu::DisparityBilateralFilter::DisparityBilateralFilter( int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS)
:param stream: Stream for the asynchronous version.
:param stream: Stream for the asynchronous version.
.. index:: gpu::drawColorDisp
gpu::drawColorDisp
gpu::drawColorDisp
----------------------
----------------------
.. ocv:function:: void gpu::drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp)
.. ocv:function:: void gpu::drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp)
...
@@ -473,8 +439,6 @@ gpu::drawColorDisp
...
@@ -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.
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.
: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 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.
: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.
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.
: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.
