fixed python test failures (modified stereo correspondence test to use cv2.* stuff), fixed docs

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -1083,7 +1083,7 @@ Reprojects a disparity image to 3D space.
 
     :param Q: :math:`4 \times 4`  perspective transformation matrix that can be obtained with  :ocv:func:`stereoRectify`.
 
-    :param handleMissingValues: Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If ``handleMissingValues=true``, then pixels with the minimal disparity that corresponds to the outliers (see  :ocv:funcx:`StereoBM::operator()` ) are transformed to 3D points with a very large Z value (currently set to 10000).
+    :param handleMissingValues: Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If ``handleMissingValues=true``, then pixels with the minimal disparity that corresponds to the outliers (see  :ocv:funcx:`StereoMatcher::compute` ) are transformed to 3D points with a very large Z value (currently set to 10000).
 
     :param ddepth: The optional output array depth. If it is ``-1``, the output image will have ``CV_32F`` depth. ``ddepth`` can also be set to ``CV_16S``, ``CV_32S`` or ``CV_32F``.
 
@@ -1170,7 +1170,7 @@ StereoMatcher
 -------------
 .. ocv:class:: StereoMatcher : public Algorithm
 
-The base class for stereo correspondence algorithms. ::
+The base class for stereo correspondence algorithms.
 
 StereoMatcher::compute
 -----------------------

modules/calib3d/include/opencv2/calib3d.hpp

@@ -731,7 +731,7 @@ public:
     CV_WRAP virtual void setROI2(Rect roi2) = 0;
 };
 
-CV_EXPORTS Ptr<StereoBM> createStereoBM(int numDisparities=0, int blockSize=21);
+CV_EXPORTS_W Ptr<StereoBM> createStereoBM(int numDisparities=0, int blockSize=21);
 
 
 class CV_EXPORTS_W StereoSGBM : public StereoMatcher
@@ -756,7 +756,7 @@ public:
 };
 
 
-CV_EXPORTS Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int blockSize,
+CV_EXPORTS_W Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int blockSize,
                                             int P1=0, int P2=0, int disp12MaxDiff=0,
                                             int preFilterCap=0, int uniquenessRatio=0,
                                             int speckleWindowSize=0, int speckleRange=0,

modules/python/src2/cv2.cpp

@@ -129,6 +129,10 @@ typedef Ptr<DescriptorExtractor> Ptr_DescriptorExtractor;
 typedef Ptr<Feature2D> Ptr_Feature2D;
 typedef Ptr<DescriptorMatcher> Ptr_DescriptorMatcher;
 
+typedef Ptr<StereoMatcher> Ptr_StereoMatcher;
+typedef Ptr<StereoBM> Ptr_StereoBM;
+typedef Ptr<StereoSGBM> Ptr_StereoSGBM;
+
 typedef Ptr<cv::softcascade::ChannelFeatureBuilder> Ptr_ChannelFeatureBuilder;
 
 typedef SimpleBlobDetector::Params SimpleBlobDetector_Params;

modules/python/test/test.py

@@ -14,6 +14,8 @@ import getopt
 import operator
 import functools
 
+import numpy as np
+import cv2
 import cv2.cv as cv
 
 from test2 import *
@@ -78,6 +80,12 @@ class OpenCVTests(unittest.TestCase):
             cv.SetData(imagefiledata, filedata, len(filedata))
             self.image_cache[filename] = cv.DecodeImageM(imagefiledata, iscolor)
         return self.image_cache[filename]
+        
+    def get_sample2(self, filename, iscolor = cv.CV_LOAD_IMAGE_COLOR):
+        if not filename in self.image_cache:
+            filedata = urllib.urlopen("https://raw.github.com/Itseez/opencv/master/" + filename).read()
+            self.image_cache[filename] = cv2.imdecode(np.fromstring(filedata, dtype=np.uint8), iscolor)
+        return self.image_cache[filename]
 
     def setUp(self):
         self.image_cache = {}
@@ -987,47 +995,14 @@ class AreaTests(OpenCVTests):
             self.assertRaises(cv.error, lambda: l[tup2])
 
     def test_stereo(self):
-        bm = cv.CreateStereoBMState()
-        def illegal_delete():
-            bm = cv.CreateStereoBMState()
-            del bm.preFilterType
-        def illegal_assign():
-            bm = cv.CreateStereoBMState()
-            bm.preFilterType = "foo"
-
-        self.assertRaises(TypeError, illegal_delete)
-        self.assertRaises(TypeError, illegal_assign)
-
-        left = self.get_sample("samples/c/lena.jpg", 0)
-        right = self.get_sample("samples/c/lena.jpg", 0)
-        disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-        cv.FindStereoCorrespondenceBM(left, right, disparity, bm)
-
-        gc = cv.CreateStereoGCState(16, 2)
-        left_disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-        right_disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-
-    def test_stereo(self):
-        bm = cv.CreateStereoBMState()
-        def illegal_delete():
-            bm = cv.CreateStereoBMState()
-            del bm.preFilterType
-        def illegal_assign():
-            bm = cv.CreateStereoBMState()
-            bm.preFilterType = "foo"
-
-        self.assertRaises(TypeError, illegal_delete)
-        self.assertRaises(TypeError, illegal_assign)
-
-        left = self.get_sample("samples/c/lena.jpg", 0)
-        right = self.get_sample("samples/c/lena.jpg", 0)
-        disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-        cv.FindStereoCorrespondenceBM(left, right, disparity, bm)
-
-        gc = cv.CreateStereoGCState(16, 2)
-        left_disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-        right_disparity = cv.CreateMat(512, 512, cv.CV_16SC1)
-        cv.FindStereoCorrespondenceGC(left, right, left_disparity, right_disparity, gc)
+        left = self.get_sample2("samples/cpp/tsukuba_l.png", 0)
+        right = self.get_sample2("samples/cpp/tsukuba_r.png", 0)
+        bm = cv2.createStereoBM(32, 11)
+        disparity = bm.compute(left, right)
+        self.assertEqual(left.shape, disparity.shape)
+        sgbm = cv2.createStereoSGBM(0, 32, 5)
+        disparity2 = sgbm.compute(left, right)
+        self.assertEqual(left.shape, disparity2.shape)
 
     def test_kalman(self):
         k = cv.CreateKalman(2, 1, 0)