New stereo module created and added some relevant files for this module

modules/stereo/CMakeLists.txt

+set(the_description "Stereo Correspondence")
+ocv_define_module(stereo opencv_imgproc opencv_features2d opencv_core opencv_highgui WRAP java python)

modules/stereo/README.md

+Stereo Correspondence with different descriptors
+================================================
\ No newline at end of file

modules/stereo/include/opencv2/stereo/stereo.hpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __OPENCV_BUILD
+#error this is a compatibility header which should not be used inside the OpenCV library
+#endif
+
+#include "opencv2/stereo.hpp"

modules/stereo/include/opencv2/stereo/stereo_c.h

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_STEREO_C_H__
+#define __OPENCV_STEREO_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup stereo_c
+  @{
+  */
+
+/****************************************************************************************\
+*									 Stereo										         *
+\****************************************************************************************/
+/* stereo correspondence parameters and functions */
+
+#define CV_STEREO_BM_NORMALIZED_RESPONSE  0
+#define CV_STEREO_BM_XSOBEL               1
+
+/* Block matching algorithm structure */
+typedef struct CvStereoBinaryBMState
+{
+    // pre-filtering (normalization of input images)
+    int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
+    int preFilterSize; // averaging window size: ~5x5..21x21
+    int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
+
+    // correspondence using Sum of Absolute Difference (SAD)
+    int SADWindowSize; // ~5x5..21x21
+    int minDisparity;  // minimum disparity (can be negative)
+    int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
+
+    // post-filtering
+    int textureThreshold;  // the disparity is only computed for pixels
+                           // with textured enough neighborhood
+    int uniquenessRatio;   // accept the computed disparity d* only if
+                           // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
+                           // for any d != d*+/-1 within the search range.
+    int speckleWindowSize; // disparity variation window
+    int speckleRange; // acceptable range of variation in window
+
+    int trySmallerWindows; // if 1, the results may be more accurate,
+                           // at the expense of slower processing
+    CvRect roi1, roi2;
+    int disp12MaxDiff;
+
+    // temporary buffers
+    CvMat* preFilteredImg0;
+    CvMat* preFilteredImg1;
+    CvMat* slidingSumBuf;
+    CvMat* cost;
+    CvMat* disp;
+} CvStereoBinaryBMState;
+
+#define CV_STEREO_BM_BASIC 0
+#define CV_STEREO_BM_FISH_EYE 1
+#define CV_STEREO_BM_NARROW 2
+
+CVAPI(CvStereoBinaryBMState*) cvCreateStereoBinaryBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
+                                              int numberOfDisparities CV_DEFAULT(0));
+
+CVAPI(void) cvReleaseStereoBinaryBMState( CvStereoBinaryBMState** state );
+
+CVAPI(void) cvFindStereoCorrespondenceBinaryBM( const CvArr* left, const CvArr* right,
+                                          CvArr* disparity, CvStereoBinaryBMState* state );
+
+CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
+                                      int numberOfDisparities, int SADWindowSize );
+
+CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
+                                 int minDisparity, int numberOfDisparities,
+                                 int disp12MaxDiff CV_DEFAULT(1) );
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+#endif /* __OPENCV_STEREO_C_H__ */

modules/stereo/src/compat_binary_stereo.cpp

+//M*//////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+#include "opencv2/stereo/stereo_c.h"
+
+CvStereoBinaryBMState* cvCreateStereoBinaryBMState( int /*preset*/, int numberOfDisparities )
+{
+    CvStereoBinaryBMState* state = (CvStereoBinaryBMState*)cvAlloc( sizeof(*state) );
+    if( !state )
+        return 0;
+
+    state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
+    state->preFilterSize = 9;
+    state->preFilterCap = 31;
+    state->SADWindowSize = 15;
+    state->minDisparity = 0;
+    state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64;
+    state->textureThreshold = 10;
+    state->uniquenessRatio = 15;
+    state->speckleRange = state->speckleWindowSize = 0;
+    state->trySmallerWindows = 0;
+    state->roi1 = state->roi2 = cvRect(0,0,0,0);
+    state->disp12MaxDiff = -1;
+
+    state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf =
+    state->disp = state->cost = 0;
+
+    return state;
+}
+
+void cvReleaseStereoBinaryBMState( CvStereoBinaryBMState** state )
+{
+    if( !state )
+        CV_Error( CV_StsNullPtr, "" );
+
+    if( !*state )
+        return;
+
+    cvReleaseMat( &(*state)->preFilteredImg0 );
+    cvReleaseMat( &(*state)->preFilteredImg1 );
+    cvReleaseMat( &(*state)->slidingSumBuf );
+    cvReleaseMat( &(*state)->disp );
+    cvReleaseMat( &(*state)->cost );
+    cvFree( state );
+}
+
+void cvFindStereoCorrespondenceBinaryBM( const CvArr* leftarr, const CvArr* rightarr,
+                                   CvArr* disparr, CvStereoBinaryBMState* state )
+{
+    cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr);
+    const cv::Mat disp = cv::cvarrToMat(disparr);
+
+    CV_Assert( state != 0 );
+
+    cv::Ptr<cv::StereoBinaryBM> sm = cv::StereoBinaryBM::create(state->numberOfDisparities,
+                                                       state->SADWindowSize);
+    sm->setPreFilterType(state->preFilterType);
+    sm->setPreFilterSize(state->preFilterSize);
+    sm->setPreFilterCap(state->preFilterCap);
+    sm->setBlockSize(state->SADWindowSize);
+    sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64);
+    sm->setTextureThreshold(state->textureThreshold);
+    sm->setUniquenessRatio(state->uniquenessRatio);
+    sm->setSpeckleRange(state->speckleRange);
+    sm->setSpeckleWindowSize(state->speckleWindowSize);
+    sm->setDisp12MaxDiff(state->disp12MaxDiff);
+
+    sm->compute(left, right, disp);
+}
+
+CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
+                              int numberOfDisparities, int SADWindowSize )
+{
+    return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity,
+                                            numberOfDisparities, SADWindowSize );
+}
+
+void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
+                         int numberOfDisparities, int disp12MaxDiff )
+{
+    cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
+    cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
+}

modules/stereo/src/precomp.hpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+#pragma once
+#ifndef __OPENCV_STEREO_PRECOMP_H__
+#define __OPENCV_STEREO_PRECOMP_H__
+
+#include "opencv2/stereo.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/core/utility.hpp"
+#include "opencv2/core.hpp"
+#include "opencv2/highgui.hpp"
+
+#include <algorithm>
+#include <cmath>
+
+#endif

modules/stereo/test/test_main.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("cv")

modules/stereo/test/test_precomp.hpp

+#ifdef __GNUC__
+#  pragma GCC diagnostic ignored "-Wmissing-declarations"
+#  if defined __clang__ || defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wmissing-prototypes"
+#    pragma GCC diagnostic ignored "-Wextra"
+#  endif
+#endif
+
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include <iostream>
+#include "opencv2/ts.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/stereo.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/core.hpp"
+#include "opencv2/highgui.hpp"
+
+#endif