/*
|
* 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
|
* (3 - clause BSD License)
|
*
|
* Redistribution and use in source and binary forms, with or without modification,
|
* are permitted provided that the following conditions are met :
|
*
|
* * Redistributions of source code must retain the above copyright notice,
|
* this list of conditions and the following disclaimer.
|
*
|
* * Redistributions 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.
|
*
|
* * Neither the names of the copyright holders nor the names of the contributors
|
* may 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 copyright holders 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.
|
*/
|
|
#ifndef __OPENCV_DISPARITYFILTER_HPP__
|
#define __OPENCV_DISPARITYFILTER_HPP__
|
#ifdef __cplusplus
|
|
#include <opencv2/core.hpp>
|
#include <opencv2/calib3d.hpp>
|
|
namespace cv {
|
namespace ximgproc {
|
|
//! @addtogroup ximgproc_filters
|
//! @{
|
|
/** @brief Main interface for all disparity map filters.
|
*/
|
class CV_EXPORTS_W DisparityFilter : public Algorithm
|
{
|
public:
|
|
/** @brief Apply filtering to the disparity map.
|
|
@param disparity_map_left disparity map of the left view, 1 channel, CV_16S type. Implicitly assumes that disparity
|
values are scaled by 16 (one-pixel disparity corresponds to the value of 16 in the disparity map). Disparity map
|
can have any resolution, it will be automatically resized to fit left_view resolution.
|
|
@param left_view left view of the original stereo-pair to guide the filtering process, 8-bit single-channel
|
or three-channel image.
|
|
@param filtered_disparity_map output disparity map.
|
|
@param disparity_map_right optional argument, some implementations might also use the disparity map
|
of the right view to compute confidence maps, for instance.
|
|
@param ROI region of the disparity map to filter. Optional, usually it should be set automatically.
|
|
@param right_view optional argument, some implementations might also use the right view of the original
|
stereo-pair.
|
*/
|
CV_WRAP virtual void filter(InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right = Mat(), Rect ROI = Rect(), InputArray right_view = Mat()) = 0;
|
};
|
|
/** @brief Disparity map filter based on Weighted Least Squares filter (in form of Fast Global Smoother that
|
is a lot faster than traditional Weighted Least Squares filter implementations) and optional use of
|
left-right-consistency-based confidence to refine the results in half-occlusions and uniform areas.
|
*/
|
class CV_EXPORTS_W DisparityWLSFilter : public DisparityFilter
|
{
|
public:
|
/** filter parameters */
|
|
/** @brief Lambda is a parameter defining the amount of regularization during filtering. Larger values force
|
filtered disparity map edges to adhere more to source image edges. Typical value is 8000.
|
*/
|
CV_WRAP virtual double getLambda() = 0;
|
/** @see getLambda */
|
CV_WRAP virtual void setLambda(double _lambda) = 0;
|
/** @brief SigmaColor is a parameter defining how sensitive the filtering process is to source image edges.
|
Large values can lead to disparity leakage through low-contrast edges. Small values can make the filter too
|
sensitive to noise and textures in the source image. Typical values range from 0.8 to 2.0.
|
*/
|
CV_WRAP virtual double getSigmaColor() = 0;
|
/** @see getSigmaColor */
|
CV_WRAP virtual void setSigmaColor(double _sigma_color) = 0;
|
|
/** confidence-related parameters */
|
|
/** @brief LRCthresh is a threshold of disparity difference used in left-right-consistency check during
|
confidence map computation. The default value of 24 (1.5 pixels) is virtually always good enough.
|
*/
|
CV_WRAP virtual int getLRCthresh() = 0;
|
/** @see getLRCthresh */
|
CV_WRAP virtual void setLRCthresh(int _LRC_thresh) = 0;
|
/** @brief DepthDiscontinuityRadius is a parameter used in confidence computation. It defines the size of
|
low-confidence regions around depth discontinuities.
|
*/
|
CV_WRAP virtual int getDepthDiscontinuityRadius() = 0;
|
/** @see getDepthDiscontinuityRadius */
|
CV_WRAP virtual void setDepthDiscontinuityRadius(int _disc_radius) = 0;
|
/** @brief Get the confidence map that was used in the last filter call. It is a CV_32F one-channel image
|
with values ranging from 0.0 (totally untrusted regions of the raw disparity map) to 255.0 (regions containing
|
correct disparity values with a high degree of confidence).
|
*/
|
CV_WRAP virtual Mat getConfidenceMap() = 0;
|
/** @brief Get the ROI used in the last filter call
|
*/
|
CV_WRAP virtual Rect getROI() = 0;
|
};
|
|
/** @brief Convenience factory method that creates an instance of DisparityWLSFilter and sets up all the relevant
|
filter parameters automatically based on the matcher instance. Currently supports only StereoBM and StereoSGBM.
|
|
@param matcher_left stereo matcher instance that will be used with the filter
|
*/
|
CV_EXPORTS_W
|
Ptr<DisparityWLSFilter> createDisparityWLSFilter(Ptr<StereoMatcher> matcher_left);
|
|
/** @brief Convenience method to set up the matcher for computing the right-view disparity map
|
that is required in case of filtering with confidence.
|
|
@param matcher_left main stereo matcher instance that will be used with the filter
|
*/
|
CV_EXPORTS_W
|
Ptr<StereoMatcher> createRightMatcher(Ptr<StereoMatcher> matcher_left);
|
|
/** @brief More generic factory method, create instance of DisparityWLSFilter and execute basic
|
initialization routines. When using this method you will need to set-up the ROI, matchers and
|
other parameters by yourself.
|
|
@param use_confidence filtering with confidence requires two disparity maps (for the left and right views) and is
|
approximately two times slower. However, quality is typically significantly better.
|
*/
|
CV_EXPORTS_W
|
Ptr<DisparityWLSFilter> createDisparityWLSFilterGeneric(bool use_confidence);
|
|
//////////////////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////////////////
|
|
/** @brief Function for reading ground truth disparity maps. Supports basic Middlebury
|
and MPI-Sintel formats. Note that the resulting disparity map is scaled by 16.
|
|
@param src_path path to the image, containing ground-truth disparity map
|
|
@param dst output disparity map, CV_16S depth
|
|
@result returns zero if successfully read the ground truth
|
*/
|
CV_EXPORTS
|
int readGT(String src_path,OutputArray dst);
|
|
/** @brief Function for computing mean square error for disparity maps
|
|
@param GT ground truth disparity map
|
|
@param src disparity map to evaluate
|
|
@param ROI region of interest
|
|
@result returns mean square error between GT and src
|
*/
|
CV_EXPORTS
|
double computeMSE(InputArray GT, InputArray src, Rect ROI);
|
|
/** @brief Function for computing the percent of "bad" pixels in the disparity map
|
(pixels where error is higher than a specified threshold)
|
|
@param GT ground truth disparity map
|
|
@param src disparity map to evaluate
|
|
@param ROI region of interest
|
|
@param thresh threshold used to determine "bad" pixels
|
|
@result returns mean square error between GT and src
|
*/
|
CV_EXPORTS
|
double computeBadPixelPercent(InputArray GT, InputArray src, Rect ROI, int thresh=24/*1.5 pixels*/);
|
|
/** @brief Function for creating a disparity map visualization (clamped CV_8U image)
|
|
@param src input disparity map (CV_16S depth)
|
|
@param dst output visualization
|
|
@param scale disparity map will be multiplied by this value for visualization
|
*/
|
CV_EXPORTS
|
void getDisparityVis(InputArray src,OutputArray dst,double scale=1.0);
|
|
//! @}
|
}
|
}
|
#endif
|
#endif
|
