StereoVar (OpenPnP OpenCV 2.4.11-1 API)

java.lang.Object
- org.opencv.contrib.StereoVar

```
public class StereoVar
extends Object
```
Class for computing stereo correspondence using the variational matching algorithm

class StereoVar
// C++ code: StereoVar(); StereoVar(int levels, double pyrScale, int nIt, int minDisp, int maxDisp, int poly_n, double poly_sigma, float fi, float lambda, int penalization, int cycle, int flags); virtual ~StereoVar(); virtual void operator()(InputArray left, InputArray right, OutputArray disp); int levels; double pyrScale; int nIt; int minDisp; int maxDisp; int poly_n; double poly_sigma; float fi; float lambda; int penalization; int cycle; int flags;... };
The class implements the modified S. G. Kosov algorithm [KTS09] that differs from the original one as follows:
- The automatic initialization of method's parameters is added.
- The method of Smart Iteration Distribution (SID) is implemented.
- The support of Multi-Level Adaptation Technique (MLAT) is not included.
- The method of dynamic adaptation of method's parameters is not included.
See Also:
org.opencv.contrib.StereoVar

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`CYCLE_O`
`static int`	`CYCLE_V`
`protected long`	`nativeObj`
`static int`	`PENALIZATION_CHARBONNIER`
`static int`	`PENALIZATION_PERONA_MALIK`
`static int`	`PENALIZATION_TICHONOV`
`static int`	`USE_AUTO_PARAMS`
`static int`	`USE_EQUALIZE_HIST`
`static int`	`USE_INITIAL_DISPARITY`
`static int`	`USE_MEDIAN_FILTERING`
`static int`	`USE_SMART_ID`

Constructor Summary

Constructors
Modifier	Constructor and Description
	`StereoVar()` The constructor
	`StereoVar(int levels, double pyrScale, int nIt, int minDisp, int maxDisp, int poly_n, double poly_sigma, float fi, float lambda, int penalization, int cycle, int flags)` The constructor
`protected`	`StereoVar(long addr)`

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`compute(Mat left, Mat right, Mat disp)`
`protected void`	`finalize()`
`int`	`get_cycle()`
`float`	`get_fi()`
`int`	`get_flags()`
`float`	`get_lambda()`
`int`	`get_levels()`
`int`	`get_maxDisp()`
`int`	`get_minDisp()`
`int`	`get_nIt()`
`int`	`get_penalization()`
`int`	`get_poly_n()`
`double`	`get_poly_sigma()`
`double`	`get_pyrScale()`
`void`	`set_cycle(int cycle)`
`void`	`set_fi(float fi)`
`void`	`set_flags(int flags)`
`void`	`set_lambda(float lambda)`
`void`	`set_levels(int levels)`
`void`	`set_maxDisp(int maxDisp)`
`void`	`set_minDisp(int minDisp)`
`void`	`set_nIt(int nIt)`
`void`	`set_penalization(int penalization)`
`void`	`set_poly_n(int poly_n)`
`void`	`set_poly_sigma(double poly_sigma)`
`void`	`set_pyrScale(double pyrScale)`

Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - nativeObj
```
protected final long nativeObj
```
  - USE_INITIAL_DISPARITY
```
public static final int USE_INITIAL_DISPARITY
```
    See Also:
    Constant Field Values
  - USE_EQUALIZE_HIST
```
public static final int USE_EQUALIZE_HIST
```
    See Also:
    Constant Field Values
  - USE_SMART_ID
```
public static final int USE_SMART_ID
```
    See Also:
    Constant Field Values
  - USE_AUTO_PARAMS
```
public static final int USE_AUTO_PARAMS
```
    See Also:
    Constant Field Values
  - USE_MEDIAN_FILTERING
```
public static final int USE_MEDIAN_FILTERING
```
    See Also:
    Constant Field Values
  - CYCLE_O
```
public static final int CYCLE_O
```
    See Also:
    Constant Field Values
  - CYCLE_V
```
public static final int CYCLE_V
```
    See Also:
    Constant Field Values
  - PENALIZATION_TICHONOV
```
public static final int PENALIZATION_TICHONOV
```
    See Also:
    Constant Field Values
  - PENALIZATION_CHARBONNIER
```
public static final int PENALIZATION_CHARBONNIER
```
    See Also:
    Constant Field Values
  - PENALIZATION_PERONA_MALIK
```
public static final int PENALIZATION_PERONA_MALIK
```
    See Also:
    Constant Field Values
- Constructor Detail
  - StereoVar
```
protected StereoVar(long addr)
```
  - StereoVar
```
public StereoVar()
```
    The constructor
    
    The first constructor initializes StereoVar with all the default parameters. So, you only have to set StereoVar.maxDisp and / or StereoVar.minDisp at minimum. The second constructor enables you to set each parameter to a custom value.
    
    See Also:
    org.opencv.contrib.StereoVar.StereoVar
  - StereoVar
```
public StereoVar(int levels,
         double pyrScale,
         int nIt,
         int minDisp,
         int maxDisp,
         int poly_n,
         double poly_sigma,
         float fi,
         float lambda,
         int penalization,
         int cycle,
         int flags)
```
    The constructor
    
    The first constructor initializes StereoVar with all the default parameters. So, you only have to set StereoVar.maxDisp and / or StereoVar.minDisp at minimum. The second constructor enables you to set each parameter to a custom value.
    Parameters:
    levels - The number of pyramid layers, including the initial image. levels=1 means that no extra layers are created and only the original images are used. This parameter is ignored if flag USE_AUTO_PARAMS is set.
    pyrScale - Specifies the image scale (<1) to build the pyramids for each image. pyrScale=0.5 means the classical pyramid, where each next layer is twice smaller than the previous. (This parameter is ignored if flag USE_AUTO_PARAMS is set).
    nIt - The number of iterations the algorithm does at each pyramid level. (If the flag USE_SMART_ID is set, the number of iterations will be redistributed in such a way, that more iterations will be done on more coarser levels.)
    minDisp - Minimum possible disparity value. Could be negative in case the left and right input images change places.
    maxDisp - Maximum possible disparity value.
    poly_n - Size of the pixel neighbourhood used to find polynomial expansion in each pixel. The larger values mean that the image will be approximated with smoother surfaces, yielding more robust algorithm and more blurred motion field. Typically, poly_n = 3, 5 or 7
    poly_sigma - Standard deviation of the Gaussian that is used to smooth derivatives that are used as a basis for the polynomial expansion. For poly_n=5 you can set poly_sigma=1.1, for poly_n=7 a good value would be poly_sigma=1.5
    fi - The smoothness parameter, ot the weight coefficient for the smoothness term.
    lambda - The threshold parameter for edge-preserving smoothness. (This parameter is ignored if PENALIZATION_CHARBONNIER or PENALIZATION_PERONA_MALIK is used.)
    penalization - Possible values: PENALIZATION_TICHONOV - linear smoothness; PENALIZATION_CHARBONNIER - non-linear edge preserving smoothness; PENALIZATION_PERONA_MALIK - non-linear edge-enhancing smoothness. (This parameter is ignored if flag USE_AUTO_PARAMS is set).
    cycle - Type of the multigrid cycle. Possible values: CYCLE_O and CYCLE_V for null- and v-cycles respectively. (This parameter is ignored if flag USE_AUTO_PARAMS is set).
    flags - The operation flags; can be a combination of the following:
    
    USE_INITIAL_DISPARITY: Use the input flow as the initial flow approximation.
    USE_EQUALIZE_HIST: Use the histogram equalization in the pre-processing phase.
    USE_SMART_ID: Use the smart iteration distribution (SID).
    USE_AUTO_PARAMS: Allow the method to initialize the main parameters.
    USE_MEDIAN_FILTERING: Use the median filer of the solution in the post processing phase.
    See Also:
    org.opencv.contrib.StereoVar.StereoVar
- Method Detail
  - compute
```
public void compute(Mat left,
           Mat right,
           Mat disp)
```
  - get_levels
```
public int get_levels()
```
  - set_levels
```
public void set_levels(int levels)
```
  - get_pyrScale
```
public double get_pyrScale()
```
  - set_pyrScale
```
public void set_pyrScale(double pyrScale)
```
  - get_nIt
```
public int get_nIt()
```
  - set_nIt
```
public void set_nIt(int nIt)
```
  - get_minDisp
```
public int get_minDisp()
```
  - set_minDisp
```
public void set_minDisp(int minDisp)
```
  - get_maxDisp
```
public int get_maxDisp()
```
  - set_maxDisp
```
public void set_maxDisp(int maxDisp)
```
  - get_poly_n
```
public int get_poly_n()
```
  - set_poly_n
```
public void set_poly_n(int poly_n)
```
  - get_poly_sigma
```
public double get_poly_sigma()
```
  - set_poly_sigma
```
public void set_poly_sigma(double poly_sigma)
```
  - get_fi
```
public float get_fi()
```
  - set_fi
```
public void set_fi(float fi)
```
  - get_lambda
```
public float get_lambda()
```
  - set_lambda
```
public void set_lambda(float lambda)
```
  - get_penalization
```
public int get_penalization()
```
  - set_penalization
```
public void set_penalization(int penalization)
```
  - get_cycle
```
public int get_cycle()
```
  - set_cycle
```
public void set_cycle(int cycle)
```
  - get_flags
```
public int get_flags()
```
  - set_flags
```
public void set_flags(int flags)
```
  - finalize
```
protected void finalize()
                 throws Throwable
```
    Overrides:
    
    finalize in class Object
    
    Throws:
    
    Throwable

Class StereoVar

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

nativeObj

USE_INITIAL_DISPARITY

USE_EQUALIZE_HIST

USE_SMART_ID

USE_AUTO_PARAMS

USE_MEDIAN_FILTERING

CYCLE_O

CYCLE_V

PENALIZATION_TICHONOV

PENALIZATION_CHARBONNIER

PENALIZATION_PERONA_MALIK

Constructor Detail

StereoVar

StereoVar

StereoVar

Method Detail

compute

get_levels

set_levels

get_pyrScale

set_pyrScale

get_nIt

set_nIt

get_minDisp

set_minDisp

get_maxDisp

set_maxDisp

get_poly_n

set_poly_n

get_poly_sigma

set_poly_sigma

get_fi

set_fi

get_lambda

set_lambda

get_penalization

set_penalization

get_cycle

set_cycle

get_flags

set_flags

finalize