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86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distereoibution and at http://opencv.org/license.html.
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//
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// Copyright (C) 2021 Intel Corporation
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#ifndef OPENCV_GAPI_STEREO_HPP
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#define OPENCV_GAPI_STEREO_HPP
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#include <opencv2/gapi/gmat.hpp>
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#include <opencv2/gapi/gscalar.hpp>
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#include <opencv2/gapi/gkernel.hpp>
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namespace cv {
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namespace gapi {
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/**
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* The enum specified format of result that you get from @ref cv::gapi::stereo.
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*/
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enum class StereoOutputFormat {
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DEPTH_FLOAT16, ///< Floating point 16 bit value, CV_16FC1.
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///< This identifier is deprecated, use DEPTH_16F instead.
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DEPTH_FLOAT32, ///< Floating point 32 bit value, CV_32FC1
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///< This identifier is deprecated, use DEPTH_16F instead.
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DISPARITY_FIXED16_11_5, ///< 16 bit signed: first bit for sign,
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///< 10 bits for integer part,
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///< 5 bits for fractional part.
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///< This identifier is deprecated,
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///< use DISPARITY_16Q_10_5 instead.
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DISPARITY_FIXED16_12_4, ///< 16 bit signed: first bit for sign,
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///< 11 bits for integer part,
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///< 4 bits for fractional part.
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///< This identifier is deprecated,
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///< use DISPARITY_16Q_11_4 instead.
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DEPTH_16F = DEPTH_FLOAT16, ///< Same as DEPTH_FLOAT16
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DEPTH_32F = DEPTH_FLOAT32, ///< Same as DEPTH_FLOAT32
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DISPARITY_16Q_10_5 = DISPARITY_FIXED16_11_5, ///< Same as DISPARITY_FIXED16_11_5
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DISPARITY_16Q_11_4 = DISPARITY_FIXED16_12_4 ///< Same as DISPARITY_FIXED16_12_4
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};
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/**
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* @brief This namespace contains G-API Operation Types for Stereo and
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* related functionality.
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*/
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namespace calib3d {
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G_TYPED_KERNEL(GStereo, <GMat(GMat, GMat, const StereoOutputFormat)>, "org.opencv.stereo") {
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static GMatDesc outMeta(const GMatDesc &left, const GMatDesc &right, const StereoOutputFormat of) {
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GAPI_Assert(left.chan == 1);
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GAPI_Assert(left.depth == CV_8U);
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GAPI_Assert(right.chan == 1);
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GAPI_Assert(right.depth == CV_8U);
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switch(of) {
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case StereoOutputFormat::DEPTH_FLOAT16:
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return left.withDepth(CV_16FC1);
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case StereoOutputFormat::DEPTH_FLOAT32:
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return left.withDepth(CV_32FC1);
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case StereoOutputFormat::DISPARITY_FIXED16_11_5:
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case StereoOutputFormat::DISPARITY_FIXED16_12_4:
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return left.withDepth(CV_16SC1);
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default:
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GAPI_Assert(false && "Unknown output format!");
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}
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}
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};
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} // namespace calib3d
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/** @brief Computes disparity/depth map for the specified stereo-pair.
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The function computes disparity or depth map depending on passed StereoOutputFormat argument.
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@param left 8-bit single-channel left image of @ref CV_8UC1 type.
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@param right 8-bit single-channel right image of @ref CV_8UC1 type.
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@param of enum to specified output kind: depth or disparity and corresponding type
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*/
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GAPI_EXPORTS GMat stereo(const GMat& left,
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const GMat& right,
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const StereoOutputFormat of = StereoOutputFormat::DEPTH_FLOAT32);
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} // namespace gapi
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} // namespace cv
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#endif // OPENCV_GAPI_STEREO_HPP
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