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Merge pull request #20129 from aDanPin:dp/improvement_gapi_stereo_documentation

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G-API: Improvement stereo documentation.

* Documentation improvement

* Set valid default values for gapi stereo

* Small doc fix

* Review response

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This commit is contained in:
Pinaev Danil 2021-06-09 16:24:50 +03:00 committed by GitHub
parent 8e386ac71f
commit b57b64b7a3
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 34 additions and 15 deletions
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4
modules/gapi/include/opencv2/gapi/cpu/stereo.hpp
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@ -25,8 +25,8 @@ struct GAPI_EXPORTS StereoInitParam {
int numDisparities = 0; int numDisparities = 0;
int blockSize = 21; int blockSize = 21;
double baseline = 70.; double baseline = 63.5;
double focus = 1000.; double focus = 3.6;
}; };
} // namespace cpu } // namespace cpu

36
modules/gapi/include/opencv2/gapi/stereo.hpp
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@ -14,11 +14,28 @@
namespace cv { namespace cv {
namespace gapi { namespace gapi {
/**
* The enum specified format of result that you get from @ref cv::gapi::stereo.
*/
enum class StereoOutputFormat { enum class StereoOutputFormat {
DEPTH_FLOAT16, DEPTH_FLOAT16, ///< Floating point 16 bit value, CV_16FC1.
DEPTH_FLOAT32, ///< This identifier is deprecated, use DEPTH_16F instead.
DISPARITY_FIXED16_11_5, DEPTH_FLOAT32, ///< Floating point 32 bit value, CV_32FC1
DISPARITY_FIXED16_12_4 ///< 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
}; };
namespace calib3d { namespace calib3d {
@ -47,13 +64,12 @@ G_TYPED_KERNEL(GStereo, <GMat(GMat, GMat, const StereoOutputFormat)>, "org.openc
} // namespace calib3d } // namespace calib3d
/** @brief Extract disparity/depth information depending on passed StereoOutputFormat argument. /** @brief Computes disparity/depth map for the specified stereo-pair.
The function extracts disparity/depth information depending on passed StereoOutputFormat argument from The function computes disparity or depth map depending on passed StereoOutputFormat argument.
given stereo-pair.
@param left left 8-bit unsigned 1-channel image of @ref CV_8UC1 type @param left 8-bit single-channel left image of @ref CV_8UC1 type.
@param right right 8-bit unsigned 1-channel image of @ref CV_8UC1 type @param right 8-bit single-channel right image of @ref CV_8UC1 type.
@param of enum to specify output kind: depth or disparity and corresponding type @param of enum to specified output kind: depth or disparity and corresponding type
*/ */
GAPI_EXPORTS GMat stereo(const GMat& left, GAPI_EXPORTS GMat stereo(const GMat& left,
const GMat& right, const GMat& right,

9
modules/gapi/test/cpu/gapi_stereo_tests_cpu.cpp
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@ -26,11 +26,14 @@ INSTANTIATE_TEST_CASE_P(CPU_Tests, TestGAPIStereo,
Values(STEREO_CPU), Values(STEREO_CPU),
Values(cv::gapi::StereoOutputFormat::DEPTH_FLOAT16, Values(cv::gapi::StereoOutputFormat::DEPTH_FLOAT16,
cv::gapi::StereoOutputFormat::DEPTH_FLOAT32, cv::gapi::StereoOutputFormat::DEPTH_FLOAT32,
cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_12_4), cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_12_4,
cv::gapi::StereoOutputFormat::DEPTH_16F,
cv::gapi::StereoOutputFormat::DEPTH_32F,
cv::gapi::StereoOutputFormat::DISPARITY_16Q_11_4),
Values(16), Values(16),
Values(43), Values(43),
Values(10.), Values(63.5),
Values(100.), Values(3.6),
Values(AbsExact().to_compare_obj()))); Values(AbsExact().to_compare_obj())));
} // opencv_test } // opencv_test