Functions | |
enum TriclopsError | triclopsGetOpenCVBMPreFilterSize (const TriclopsContext context, int *preFilterSize) |
Retrieves the current mask size for OpenCV Block Matching stereo algorithm Normalized response pre-filter. More... | |
enum TriclopsError | triclopsGetOpenCVBMPreFilterType (const TriclopsContext context, OpenCVPrefilterType *prefilterType) |
Retrieves the current pre-filter for OpenCV Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsGetOpenCVBMTextureThreshold (const TriclopsContext context, int *textureThreshold) |
Retrieves the current texture threshold for OpenCV Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsGetOpenCVDisp12MaxDiff (const TriclopsContext context, int *disp12MaxDiff) |
Retrieves the current maximum difference for OpenCV Stereo Algorithms' consistency checks. More... | |
enum TriclopsError | triclopsGetOpenCVDisparityRange (const TriclopsContext context, int *minDisparity, int *numDisparities) |
Retrieves the current minimum and maximum disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVMaxDisparity (const TriclopsContext context, int *maxDisparity) |
Retrieves the current maximum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVMinDisparity (const TriclopsContext context, int *minDisparity) |
Retrieves the current minimum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVMinMaxDisparities (const TriclopsContext context, int *minDisparity, int *maxDisparity) |
Retrieves the current minimum and maximum disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVNumDisparities (const TriclopsContext context, int *numDisparities) |
Retrieves the current number of disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVPreFilterCap (const TriclopsContext context, int *preFilterCap) |
Retrieves the current truncation value for OpenCV Block Matching stereo algorithm pre-filters. More... | |
enum TriclopsError | triclopsGetOpenCVSGBMMode (const TriclopsContext context, OpenCVSGBMMode *mode) |
Retrieves the current computation mode for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsGetOpenCVSGBMP1 (const TriclopsContext context, int *P1) |
Retrieves the first smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsGetOpenCVSGBMP2 (const TriclopsContext context, int *P2) |
Retrieves the second smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsGetOpenCVSpeckleRange (const TriclopsContext context, int *speckleRange) |
Retrieves the current speckle filter maximum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVSpeckleWindowSize (const TriclopsContext context, int *speckleWindowSize) |
Retrieves the current speckle filter window size for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVStereoMaskSize (const TriclopsContext context, int *stereoMaskSize) |
Retrieves the current Stereo Mask size for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsGetOpenCVUniquenessRatio (const TriclopsContext context, int *uniquenessRatio) |
Retrieves the current texture threshold for OpenCV stereo algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVBMPreFilterSize (const TriclopsContext context, int preFilterSize) |
Sets a new mask size for OpenCV Block Matching stereo algorithm Normalized response pre-filter. More... | |
enum TriclopsError | triclopsSetOpenCVBMPreFilterType (const TriclopsContext context, OpenCVPrefilterType preFilterType) |
Sets a new pre-filter for OpenCV Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsSetOpenCVBMTextureThreshold (const TriclopsContext context, int textureThreshold) |
Sets a new texture threshold for OpenCV Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsSetOpenCVDisp12MaxDiff (const TriclopsContext context, int disp12MaxDiff) |
Sets a new maximum difference for OpenCV Stereo Algorithms' consistency checks. More... | |
enum TriclopsError | triclopsSetOpenCVDisparityRange (const TriclopsContext context, int minDisparity, int numDisparities) |
Sets new minimum and number of disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVMaxDisparity (const TriclopsContext context, int maxDisparity) |
Sets a new maximum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVMinDisparity (const TriclopsContext context, int minDisparity) |
Sets a new minimum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVMinMaxDisparities (const TriclopsContext context, int minDisparity, int maxDisparity) |
Sets new minimum and maximum disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVNumDisparities (const TriclopsContext context, int numDisparities) |
Sets a new number of disparities for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVPreFilterCap (const TriclopsContext context, int preFilterCap) |
Sets a new truncation value for OpenCV Block Matching stereo algorithm pre-filters. More... | |
enum TriclopsError | triclopsSetOpenCVSGBMMode (const TriclopsContext context, OpenCVSGBMMode mode) |
Sets a new computation mode for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsSetOpenCVSGBMP1 (const TriclopsContext context, int P1) |
Sets a new first smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsSetOpenCVSGBMP2 (const TriclopsContext context, int P2) |
Sets a new second smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm. More... | |
enum TriclopsError | triclopsSetOpenCVSpeckleRange (const TriclopsContext context, int speckleRange) |
Sets a new speckle filter maximum disparity for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVSpeckleWindowSize (const TriclopsContext context, int speckleWindowSize) |
Sets a new speckle filter window size for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVStereoMaskSize (const TriclopsContext context, int stereoMaskSize) |
Sets a new Stereo Mask size for OpenCV Stereo Algorithms. More... | |
enum TriclopsError | triclopsSetOpenCVUniquenessRatio (const TriclopsContext context, int uniquenessRatio) |
Sets a new uniqueness ratio for OpenCV stereo algorithms. More... | |
Triclops integrates two OpenCV (OCV) stereo 3D reconstruction algorithms: Block Matching (BM) and Semi-Global Block Matching (SGBM). The parameters for OCV stereo processing are separate from Triclops' Block Matching parameters, allowing for a finer tuning of OCV algorithms, as all of the native parameters have been exposed through Triclops.
Even though OCV stereo algorithms use the left frame as reference for stereo processing, Triclops has integrated a frame processing pipeline that allows to use OCV stereo algorithms using the right frame as reference, making them follow the same pattern as Triclops' Block Matching.
Due to optimization constrains OCV stereo algorithms do not allow the computation of disparity ranges that are not multiples of 16.
OpenCV runs a speckle removal filter at the end of each stereo computation, removing all the computation artifacts based on two parameters:
SGMB uses two parameters in order to even out the resulting disparity map:
The larger the parameters are the smoother and "flatter" the disparity map will result. As a rule of thumb a good smoothing parameters pair is: 8*StereoMaskSize^2
and 32*StereoMaskSize^2
enum TriclopsError triclopsGetOpenCVBMPreFilterSize | ( | const TriclopsContext | context, |
int * | preFilterSize | ||
) |
Retrieves the current mask size for OpenCV Block Matching stereo algorithm Normalized response pre-filter.
context | The context from which to get the mask size |
preFilterSize | The current mask size |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVBMPreFilterType | ( | const TriclopsContext | context, |
OpenCVPrefilterType * | prefilterType | ||
) |
Retrieves the current pre-filter for OpenCV Block Matching stereo algorithm.
context | The context from which to get the pre-filter |
prefilterType | The current pre-filter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVBMTextureThreshold | ( | const TriclopsContext | context, |
int * | textureThreshold | ||
) |
Retrieves the current texture threshold for OpenCV Block Matching stereo algorithm.
context | The context from which to get the truncation value |
textureThreshold | The current texture threshold |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVDisp12MaxDiff | ( | const TriclopsContext | context, |
int * | disp12MaxDiff | ||
) |
Retrieves the current maximum difference for OpenCV Stereo Algorithms' consistency checks.
context | The context from which to get the maximum difference in pixels |
disp12MaxDiff | The current maximum difference in pixels |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVDisparityRange | ( | const TriclopsContext | context, |
int * | minDisparity, | ||
int * | numDisparities | ||
) |
Retrieves the current minimum and maximum disparities for OpenCV Stereo Algorithms.
context | The context from which to get the minimum and maximum disparities |
minDisparity | The current minimum disparity |
numDisparities | The current number of disparities |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVMaxDisparity | ( | const TriclopsContext | context, |
int * | maxDisparity | ||
) |
Retrieves the current maximum disparity for OpenCV Stereo Algorithms.
context | The context from which to get the maximum disparity |
maxDisparity | The current maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVMinDisparity | ( | const TriclopsContext | context, |
int * | minDisparity | ||
) |
Retrieves the current minimum disparity for OpenCV Stereo Algorithms.
context | The context from which to get the minimum disparity |
minDisparity | The current minimum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVMinMaxDisparities | ( | const TriclopsContext | context, |
int * | minDisparity, | ||
int * | maxDisparity | ||
) |
Retrieves the current minimum and maximum disparities for OpenCV Stereo Algorithms.
context | The context from which to get the minimum and maximum disparities |
minDisparity | The current minimum disparity |
maxDisparity | The current maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVNumDisparities | ( | const TriclopsContext | context, |
int * | numDisparities | ||
) |
Retrieves the current number of disparities for OpenCV Stereo Algorithms.
context | The context from which to get the number of disparities |
numDisparities | The current number of disparities |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVPreFilterCap | ( | const TriclopsContext | context, |
int * | preFilterCap | ||
) |
Retrieves the current truncation value for OpenCV Block Matching stereo algorithm pre-filters.
context | The context from which to get the truncation value |
preFilterCap | The current truncation value |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVSGBMMode | ( | const TriclopsContext | context, |
OpenCVSGBMMode * | mode | ||
) |
Retrieves the current computation mode for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context from which to get the SGBM mode |
mode | The current SGBM mode |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVSGBMP1 | ( | const TriclopsContext | context, |
int * | P1 | ||
) |
Retrieves the first smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context from which to get the first smoothing parameter |
P1 | The current first smoothing parameter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVSGBMP2 | ( | const TriclopsContext | context, |
int * | P2 | ||
) |
Retrieves the second smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context from which to get the second smoothing parameter |
P2 | The current second smoothing parameter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVSpeckleRange | ( | const TriclopsContext | context, |
int * | speckleRange | ||
) |
Retrieves the current speckle filter maximum disparity for OpenCV Stereo Algorithms.
context | The context from which to get the maximum disparity |
speckleRange | The current maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVSpeckleWindowSize | ( | const TriclopsContext | context, |
int * | speckleWindowSize | ||
) |
Retrieves the current speckle filter window size for OpenCV Stereo Algorithms.
context | The context from which to get the window size |
speckleWindowSize | The current window size |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVStereoMaskSize | ( | const TriclopsContext | context, |
int * | stereoMaskSize | ||
) |
Retrieves the current Stereo Mask size for OpenCV Stereo Algorithms.
context | The context from which to retrieve the Stereo Mask size |
stereoMaskSize | The current stereo mask size |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsGetOpenCVUniquenessRatio | ( | const TriclopsContext | context, |
int * | uniquenessRatio | ||
) |
Retrieves the current texture threshold for OpenCV stereo algorithms.
context | The context from which to get the uniqueness ratio |
uniquenessRatio | The current uniqueness ratio |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVBMPreFilterSize | ( | const TriclopsContext | context, |
int | preFilterSize | ||
) |
Sets a new mask size for OpenCV Block Matching stereo algorithm Normalized response pre-filter.
This value only affects Normalized response pre-filter as X-Sobel pre-filter uses a fixed mask size.
context | The context for which to set the mask size |
preFilterSize | The new mask size (odd value between 5 and 255) |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided mask size is invalid |
enum TriclopsError triclopsSetOpenCVBMPreFilterType | ( | const TriclopsContext | context, |
OpenCVPrefilterType | preFilterType | ||
) |
Sets a new pre-filter for OpenCV Block Matching stereo algorithm.
context | The context for which to set the pre-filter |
preFilterType | The new pre-filter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidRequest | The provided pre-filer is not supported or is invalid (e.g. casted integer) |
enum TriclopsError triclopsSetOpenCVBMTextureThreshold | ( | const TriclopsContext | context, |
int | textureThreshold | ||
) |
Sets a new texture threshold for OpenCV Block Matching stereo algorithm.
context | The context for which to set the truncation value |
textureThreshold | The new texture threshold |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided texture threshold is invalid (i.e. negative) |
enum TriclopsError triclopsSetOpenCVDisp12MaxDiff | ( | const TriclopsContext | context, |
int | disp12MaxDiff | ||
) |
Sets a new maximum difference for OpenCV Stereo Algorithms' consistency checks.
context | The context for which to set the maximum difference in pixels |
disp12MaxDiff | The new maximum difference in pixels |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVDisparityRange | ( | const TriclopsContext | context, |
int | minDisparity, | ||
int | numDisparities | ||
) |
Sets new minimum and number of disparities for OpenCV Stereo Algorithms.
The number of disparities has to be a multiple of 16, due to OpenCV limitations.
context | The context for which to set the minimum and maximum |
minDisparity | The new minimum disparity |
numDisparities | The new number of disparities |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The number of disparities is not a multiple of 16 |
TriclopsErrorUnknown | OpenCV returned an error while trying to set the provided minimum |
enum TriclopsError triclopsSetOpenCVMaxDisparity | ( | const TriclopsContext | context, |
int | maxDisparity | ||
) |
Sets a new maximum disparity for OpenCV Stereo Algorithms.
This function is just syntactic sugar to replace
The resulting number of disparities has to be a multiple of 16, due to OpenCV limitations.
context | The context for which to set the maximum |
maxDisparity | The new maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided number of disparities is not a multiple of 16 |
TriclopsErrorInvalidRequest | The provided maximum is smaller than the current minimum |
enum TriclopsError triclopsSetOpenCVMinDisparity | ( | const TriclopsContext | context, |
int | minDisparity | ||
) |
Sets a new minimum disparity for OpenCV Stereo Algorithms.
context | The context for which to set the minimum disparity |
minDisparity | The new minimum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorUnkown | The provided disparity generated an error into OpenCV. An extended error is returned via standard output |
enum TriclopsError triclopsSetOpenCVMinMaxDisparities | ( | const TriclopsContext | context, |
int | minDisparity, | ||
int | maxDisparity | ||
) |
Sets new minimum and maximum disparities for OpenCV Stereo Algorithms.
The resulting number of disparities has to be a multiple of 16, due to OpenCV limitations.
context | The context for which to set the minimum and maximum |
minDisparity | The new minimum disparity |
maxDisparity | The new maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The resulting number of disparities is not a multiple of 16 |
TriclopsErrorInvalidRequest | The provided maximum is smaller than the provided minimum |
enum TriclopsError triclopsSetOpenCVNumDisparities | ( | const TriclopsContext | context, |
int | numDisparities | ||
) |
Sets a new number of disparities for OpenCV Stereo Algorithms.
The number of disparities has to be a multiple of 16, due to OpenCV limitations.
context | The context for which to set the number of disparities |
numDisparities | The new number of disparities |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided number of disparities is either a negative value or it is not a multiple of 16 |
enum TriclopsError triclopsSetOpenCVPreFilterCap | ( | const TriclopsContext | context, |
int | preFilterCap | ||
) |
Sets a new truncation value for OpenCV Block Matching stereo algorithm pre-filters.
context | The context for which to set the truncation value |
preFilterCap | The new truncation value (value between 1 and 63) |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided truncation value is invalid |
enum TriclopsError triclopsSetOpenCVSGBMMode | ( | const TriclopsContext | context, |
OpenCVSGBMMode | mode | ||
) |
Sets a new computation mode for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context for which to set the SGBM mode |
mode | The new SGBM mode |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidRequest | The provided SGBM mode is not supported or is invalid (e.g. casted integer) |
enum TriclopsError triclopsSetOpenCVSGBMP1 | ( | const TriclopsContext | context, |
int | P1 | ||
) |
Sets a new first smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context for which to set the first smoothing parameter |
P1 | The new first smoothing parameter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVSGBMP2 | ( | const TriclopsContext | context, |
int | P2 | ||
) |
Sets a new second smoothing parameter for OpenCV Semi-Global Block Matching stereo algorithm.
context | The context for which to set the second smoothing parameter |
P2 | The new second smoothing parameter |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVSpeckleRange | ( | const TriclopsContext | context, |
int | speckleRange | ||
) |
Sets a new speckle filter maximum disparity for OpenCV Stereo Algorithms.
context | The context for which to set the maximum disparity |
speckleRange | The new maximum disparity |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVSpeckleWindowSize | ( | const TriclopsContext | context, |
int | speckleWindowSize | ||
) |
Sets a new speckle filter window size for OpenCV Stereo Algorithms.
context | The context for which to set the window size |
speckleWindowSize | The new window size |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
enum TriclopsError triclopsSetOpenCVStereoMaskSize | ( | const TriclopsContext | context, |
int | stereoMaskSize | ||
) |
Sets a new Stereo Mask size for OpenCV Stereo Algorithms.
context | The context for which to set the Stereo Mask size |
stereoMaskSize | The new stereo mask size, which needs to be a odd number between 5 and 255 |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided stereo mask size is either not valid or is too large for the chosen output resolution |
enum TriclopsError triclopsSetOpenCVUniquenessRatio | ( | const TriclopsContext | context, |
int | uniquenessRatio | ||
) |
Sets a new uniqueness ratio for OpenCV stereo algorithms.
context | The context for which to set the uniqueness ratio |
uniquenessRatio | The new uniqueness ratio |
TriclopsErrorOk | The function completed successfully |
TriclopsErrorInvalidContext | The provided context is invalid |
TriclopsErrorInvalidSetting | The provided uniqueness ratio is invalid (i.e. negative) |
Contact Support | Triclops SDK Programmer's Guide and API Reference | Mon Dec 19 2016 © FLIR Integrated Imaging Solutions Inc. All rights reserved. |