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