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feat(synthetic): add DisparityComputingMethod

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This commit is contained in:
TinyOh 2019-01-23 17:17:08 +08:00
parent 4011880148
commit 0b71d05813
11 changed files with 137 additions and 351 deletions
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1
cmake/Option.cmake
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@ -24,7 +24,6 @@ option(WITH_API "Build with API layer, need OpenCV" ON)
option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON) option(WITH_DEVICE_INFO_REQUIRED "Build with device info required" ON)
option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF) option(WITH_CAM_MODELS "Build with more camera models, WITH_API must be ON" OFF)
option(WITH_BM_SOBEL_FILTER "Build with bm and sobel filter, need OpenCV contronb" OFF)
# 3rdparty components # 3rdparty components

7
include/mynteye/api/api.h
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@ -224,6 +224,13 @@ class MYNTEYE_API API {
* Get the option value. * Get the option value.
*/ */
std::int32_t GetOptionValue(const Option &option) const; std::int32_t GetOptionValue(const Option &option) const;
/**
* Set the disparity computing method.
*/
void SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType);
/** /**
* Set the option value. * Set the option value.
*/ */

14
include/mynteye/types.h
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@ -542,6 +542,20 @@ struct MYNTEYE_API Extrinsics {
MYNTEYE_API MYNTEYE_API
std::ostream &operator<<(std::ostream &os, const Extrinsics &ex); std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
/**
* @ingroup disparity
* Camera disparity computing method type.
*/
enum class DisparityComputingMethod : std::uint8_t {
/** bm */
SGBM = 0,
/** sgbm */
BM = 1,
/** unknow */
UNKNOW
};
/** /**
* @defgroup datatypes Datatypes * @defgroup datatypes Datatypes
* @brief Public data types. * @brief Public data types.

2
samples/tutorials/data/get_disparity.cc
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@ -29,6 +29,8 @@ int main(int argc, char *argv[]) {
// api->EnableStreamData(Stream::DISPARITY); // api->EnableStreamData(Stream::DISPARITY);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED); api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
api->Start(Source::VIDEO_STREAMING); api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame"); cv::namedWindow("frame");

5
src/mynteye/api/api.cc
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@ -485,6 +485,11 @@ void API::EnablePlugin(const std::string &path) {
synthetic_->SetPlugin(plugin); synthetic_->SetPlugin(plugin);
} }
void API::SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType) {
synthetic_->SetDisparityComputingMethodType(MethodType);
}
std::shared_ptr<Device> API::device() { std::shared_ptr<Device> API::device() {
return device_; return device_;
} }

28
src/mynteye/api/processor.h
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@ -133,18 +133,36 @@ void iterate_processors_PtoC_before(
} }
template <typename T> template <typename T>
void iterate_processors_CtoP_before( void iterate_processor_PtoC_after(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) { T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
if (processor->GetParent() != nullptr) fn(processor);
iterate_processors_CtoP_before(processor->GetParent(), fn); auto chids = processor->GetChilds();
for (auto it : chids) {
iterate_processor_PtoC_after(it, fn);
}
}
template <typename T>
void iterate_processor_PtoC_before(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
auto chids = processor->GetChilds();
for (auto it : chids) {
iterate_processor_PtoC_before(it, fn);
}
fn(processor); fn(processor);
} }
template <typename T> template <typename T>
void iterate_processors_CtoP_after( void iterate_processor_CtoP_before(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
if (processor->GetParent() != nullptr)
iterate_processor_CtoP_before(processor->GetParent(), fn);
fn(processor);
}
template <typename T>
void iterate_processor_CtoP_after(
T processor, std::function<void(std::shared_ptr<Processor>)> fn) { T processor, std::function<void(std::shared_ptr<Processor>)> fn) {
fn(processor); fn(processor);
if (processor->GetParent() != nullptr) if (processor->GetParent() != nullptr)
iterate_processors_CtoP_after(processor->GetParent(), fn); iterate_processor_CtoP_after(processor->GetParent(), fn);
} }
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

96
src/mynteye/api/processor/disparity_processor.cc
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@ -20,21 +20,16 @@
#include "mynteye/logger.h" #include "mynteye/logger.h"
#define WITH_BM_SOBEL_FILTER
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
const char DisparityProcessor::NAME[] = "DisparityProcessor"; const char DisparityProcessor::NAME[] = "DisparityProcessor";
DisparityProcessor::DisparityProcessor(DisparityProcessorType type, DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), type_(type) { : Processor(std::move(proc_period)), type_(type) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
int sgbmWinSize = 3;
if (type_ == DisparityProcessorType::SGBM) { int numberOfDisparities = 64;
int sgbmWinSize = 3;
int numberOfDisparities = 64;
#ifdef WITH_OPENCV2 #ifdef WITH_OPENCV2
// StereoSGBM // StereoSGBM
// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm // http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm
@ -51,22 +46,6 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
100, // speckleWindowSize 100, // speckleWindowSize
32, // speckleRange 32, // speckleRange
false)); // fullDP false)); // fullDP
#else
sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
sgbm_matcher->setPreFilterCap(63);
sgbm_matcher->setBlockSize(sgbmWinSize);
sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setMinDisparity(0);
sgbm_matcher->setNumDisparities(numberOfDisparities);
sgbm_matcher->setUniquenessRatio(10);
sgbm_matcher->setSpeckleWindowSize(100);
sgbm_matcher->setSpeckleRange(32);
sgbm_matcher->setDisp12MaxDiff(1);
#endif
#ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) {
#ifdef WITH_OPENCV2
LOG(ERROR) << "not supported in opencv 2.x"; LOG(ERROR) << "not supported in opencv 2.x";
// int bmWinSize = 3; // int bmWinSize = 3;
// // StereoBM // // StereoBM
@ -83,6 +62,18 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
// 100, // 100,
// 4)); // 4));
#else #else
sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
sgbm_matcher->setPreFilterCap(63);
sgbm_matcher->setBlockSize(sgbmWinSize);
sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setMinDisparity(0);
sgbm_matcher->setNumDisparities(numberOfDisparities);
sgbm_matcher->setUniquenessRatio(10);
sgbm_matcher->setSpeckleWindowSize(100);
sgbm_matcher->setSpeckleRange(32);
sgbm_matcher->setDisp12MaxDiff(1);
bm_matcher = cv::StereoBM::create(0, 3); bm_matcher = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9); bm_matcher->setPreFilterSize(9);
bm_matcher->setPreFilterCap(31); bm_matcher->setPreFilterCap(31);
@ -95,48 +86,23 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
bm_matcher->setSpeckleRange(4); bm_matcher->setSpeckleRange(4);
bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL); bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
#endif #endif
#endif NotifyComputingTypeChanged(type_);
} else { }
LOG(ERROR) << "no enum DisparityProcessorType,use default sgbm";
int sgbmWinSize = 3;
int numberOfDisparities = 64;
#ifdef WITH_OPENCV2 void DisparityProcessor::NotifyComputingTypeChanged(
// StereoSGBM const DisparityComputingMethod &MethodType) {
// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm type_ = MethodType;
sgbm_matcher = cv::Ptr<cv::StereoSGBM>(
new cv::StereoSGBM(
0, // minDisparity
numberOfDisparities, // numDisparities
sgbmWinSize, // SADWindowSize
8 * sgbmWinSize * sgbmWinSize, // P1
32 * sgbmWinSize * sgbmWinSize, // P2
1, // disp12MaxDiff
63, // preFilterCap
10, // uniquenessRatio
100, // speckleWindowSize
32, // speckleRange
false)); // fullDP
#else
sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
sgbm_matcher->setPreFilterCap(63);
sgbm_matcher->setBlockSize(sgbmWinSize);
sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
sgbm_matcher->setMinDisparity(0);
sgbm_matcher->setNumDisparities(numberOfDisparities);
sgbm_matcher->setUniquenessRatio(10);
sgbm_matcher->setSpeckleWindowSize(100);
sgbm_matcher->setSpeckleRange(32);
sgbm_matcher->setDisp12MaxDiff(1);
#endif
}
} }
DisparityProcessor::~DisparityProcessor() { DisparityProcessor::~DisparityProcessor() {
VLOG(2) << __func__; VLOG(2) << __func__;
} }
void DisparityProcessor::SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType) {
NotifyComputingTypeChanged(MethodType);
}
std::string DisparityProcessor::Name() { std::string DisparityProcessor::Name() {
return NAME; return NAME;
} }
@ -161,16 +127,14 @@ bool DisparityProcessor::OnProcess(
// It contains disparity values scaled by 16. So, to get the floating-point // It contains disparity values scaled by 16. So, to get the floating-point
// disparity map, // disparity map,
// you need to divide each disp element by 16. // you need to divide each disp element by 16.
if (type_ == DisparityProcessorType::SGBM) { if (type_ == DisparityComputingMethod::SGBM) {
(*sgbm_matcher)(input->first, input->second, disparity); (*sgbm_matcher)(input->first, input->second, disparity);
#ifdef WITH_BM_SOBEL_FILTER } else if (type_ == DisparityComputingMethod::BM) {
} else if (type_ == DisparityProcessorType::BM) {
LOG(ERROR) << "not supported in opencv 2.x"; LOG(ERROR) << "not supported in opencv 2.x";
// cv::Mat tmp1, tmp2; // cv::Mat tmp1, tmp2;
// cv::cvtColor(input->first, tmp1, CV_RGB2GRAY); // cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
// cv::cvtColor(input->second, tmp2, CV_RGB2GRAY); // cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
// (*bm_matcher)(tmp1, tmp2, disparity); // (*bm_matcher)(tmp1, tmp2, disparity);
#endif
} }
#else #else
// compute() // compute()
@ -180,10 +144,9 @@ bool DisparityProcessor::OnProcess(
// disparity map // disparity map
// (where each disparity value has 4 fractional bits), // (where each disparity value has 4 fractional bits),
// whereas other algorithms output 32-bit floating-point disparity map. // whereas other algorithms output 32-bit floating-point disparity map.
if (type_ == DisparityProcessorType::SGBM) { if (type_ == DisparityComputingMethod::SGBM) {
sgbm_matcher->compute(input->first, input->second, disparity); sgbm_matcher->compute(input->first, input->second, disparity);
#ifdef WITH_BM_SOBEL_FILTER } else if (type_ == DisparityComputingMethod::BM) {
} else if (type_ == DisparityProcessorType::BM) {
cv::Mat tmp1, tmp2; cv::Mat tmp1, tmp2;
if (input->first.channels() == 1) { if (input->first.channels() == 1) {
// s1030 // s1030
@ -195,7 +158,6 @@ bool DisparityProcessor::OnProcess(
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY); cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
} }
bm_matcher->compute(tmp1, tmp2, disparity); bm_matcher->compute(tmp1, tmp2, disparity);
#endif
} else { } else {
// default // default
sgbm_matcher->compute(input->first, input->second, disparity); sgbm_matcher->compute(input->first, input->second, disparity);

18
src/mynteye/api/processor/disparity_processor.h
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@ -17,6 +17,7 @@
#include <string> #include <string>
#include "mynteye/api/processor.h" #include "mynteye/api/processor.h"
#include "mynteye/types.h"
namespace cv { namespace cv {
@ -24,27 +25,20 @@ class StereoSGBM;
class StereoBM; class StereoBM;
} // namespace cv } // namespace cv
enum class DisparityProcessorType : std::uint8_t {
/** bm */
SGBM = 0,
/** sgbm */
BM = 1,
/** unknow */
UNKNOW
};
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
class DisparityProcessor : public Processor { class DisparityProcessor : public Processor {
public: public:
static const char NAME[]; static const char NAME[];
explicit DisparityProcessor(DisparityProcessorType type, explicit DisparityProcessor(DisparityComputingMethod type,
std::int32_t proc_period = 0); std::int32_t proc_period = 0);
virtual ~DisparityProcessor(); virtual ~DisparityProcessor();
std::string Name() override; std::string Name() override;
void SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType);
void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
protected: protected:
Object *OnCreateOutput() override; Object *OnCreateOutput() override;
@ -55,7 +49,7 @@ class DisparityProcessor : public Processor {
private: private:
cv::Ptr<cv::StereoSGBM> sgbm_matcher; cv::Ptr<cv::StereoSGBM> sgbm_matcher;
cv::Ptr<cv::StereoBM> bm_matcher; cv::Ptr<cv::StereoBM> bm_matcher;
DisparityProcessorType type_; DisparityComputingMethod type_;
}; };
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

12
src/mynteye/api/processor/root_camera_processor.cc
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@ -22,9 +22,7 @@ MYNTEYE_BEGIN_NAMESPACE
const char RootProcessor::NAME[] = "RootProcessor"; const char RootProcessor::NAME[] = "RootProcessor";
RootProcessor::RootProcessor(std::int32_t proc_period) RootProcessor::RootProcessor(std::int32_t proc_period)
: Processor(std::move(proc_period)) { : Processor(std::move(proc_period)) {}
// todo
}
RootProcessor::~RootProcessor() { RootProcessor::~RootProcessor() {
VLOG(2) << __func__; VLOG(2) << __func__;
} }
@ -40,14 +38,6 @@ bool RootProcessor::OnProcess(
Object *const in, Object *const out, Object *const in, Object *const out,
std::shared_ptr<Processor> const parent) { std::shared_ptr<Processor> const parent) {
MYNTEYE_UNUSED(parent) MYNTEYE_UNUSED(parent)
// const ObjMat2 *input = Object::Cast<ObjMat2>(in);
// ObjMat2 *output = Object::Cast<ObjMat2>(out);
// cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
// cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
// output->first_id = input->first_id;
// output->first_data = input->first_data;
// output->second_id = input->second_id;
// output->second_data = input->second_data;
return true; return true;
} }
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

303
src/mynteye/api/synthetic.cc
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@ -42,6 +42,7 @@
#define DISPARITY_NORM_PROC_PERIOD 0 #define DISPARITY_NORM_PROC_PERIOD 0
#define POINTS_PROC_PERIOD 0 #define POINTS_PROC_PERIOD 0
#define DEPTH_PROC_PERIOD 0 #define DEPTH_PROC_PERIOD 0
#define ROOT_PROC_PERIOD 0
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
@ -183,21 +184,6 @@ void Synthetic::setControlDateCallbackWithStream(
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream; LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
} }
// void Synthetic::setControlDateModeWithStream(
// const struct stream_control_t& ctr_data) {
// for (auto &&it : processors_) {
// int i = 0;
// for (auto it_s : it->getTargetStreams()) {
// if (it_s.stream == ctr_data.stream) {
// it->target_streams_[i].mode = ctr_data.mode;
// return;
// }
// i++;
// }
// }
// LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
// }
bool Synthetic::checkControlDateWithStream(const Stream& stream) const { bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
for (auto &&it : processors_) { for (auto &&it : processors_) {
for (auto it_s : it->getTargetStreams()) { for (auto it_s : it->getTargetStreams()) {
@ -209,40 +195,25 @@ bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
return false; return false;
} }
// bool Synthetic::Supports(const Stream &stream) const { void Synthetic::EnableStreamData(const Stream &stream) {
// return checkControlDateWithStream(stream); // Activate processors of synthetic stream
// } auto processor = getProcessorWithStream(stream);
iterate_processor_CtoP_before(processor,
// Synthetic::status_mode_t Synthetic::GetStreamStatusMode( [](std::shared_ptr<Processor> proce){
// const Stream &stream) const { auto streams = proce->getTargetStreams();
// if (checkControlDateWithStream(stream)) { int act_tag = 0;
// auto ctrData = getControlDateWithStream(stream); for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
// return ctrData.mode; if (proce->target_streams_[i].enabled_mode_ == MODE_LAST) {
// } else { act_tag++;
// return MODE_STATUS_LAST; proce->target_streams_[i].enabled_mode_ = MODE_SYNTHETIC;
// } }
// } }
if (act_tag > 0 && !proce->IsActivated()) {
// void Synthetic::EnableStreamData(const Stream &stream) { // std::cout << proce->Name() << " Active now" << std::endl;
// // Activate processors of synthetic stream proce->Activate();
// auto processor = getProcessorWithStream(stream); }
// iterate_processors_CtoP_before(processor, });
// [](std::shared_ptr<Processor> proce){ }
// auto streams = proce->getTargetStreams();
// int act_tag = 0;
// for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
// if (proce->target_streams_[i].mode == MODE_STATUS_DISABLE) {
// act_tag++;
// proce->target_streams_[i].mode = MODE_STATUS_ENABLE;
// }
// }
// if (act_tag > 0) {
// std::cout << proce->Name() << "active" << std::endl;
// proce->Activate();
// }
// // std::cout <<std::endl;
// });
// }
bool Synthetic::Supports(const Stream &stream) const { bool Synthetic::Supports(const Stream &stream) const {
@ -257,12 +228,23 @@ Synthetic::mode_t Synthetic::SupportsMode(const Stream &stream) const {
return MODE_LAST; return MODE_LAST;
} }
void Synthetic::EnableStreamData(const Stream &stream) {
EnableStreamData(stream, 0);
}
void Synthetic::DisableStreamData(const Stream &stream) { void Synthetic::DisableStreamData(const Stream &stream) {
DisableStreamData(stream, 0); auto processor = getProcessorWithStream(stream);
iterate_processor_PtoC_before(processor,
[](std::shared_ptr<Processor> proce){
auto streams = proce->getTargetStreams();
int act_tag = 0;
for (unsigned int i = 0; i < proce->getStreamsSum() ; i++) {
if (proce->target_streams_[i].enabled_mode_ == MODE_SYNTHETIC) {
act_tag++;
proce->target_streams_[i].enabled_mode_ = MODE_LAST;
}
}
if (act_tag > 0 && proce->IsActivated()) {
// std::cout << proce->Name() << "Deactive now" << std::endl;
proce->Deactivate();
}
});
} }
bool Synthetic::IsStreamDataEnabled(const Stream &stream) const { bool Synthetic::IsStreamDataEnabled(const Stream &stream) const {
@ -349,7 +331,6 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto sum = processor->getStreamsSum(); auto sum = processor->getStreamsSum();
auto &&out = processor->GetOutput(); auto &&out = processor->GetOutput();
static std::shared_ptr<ObjMat2> output = nullptr; static std::shared_ptr<ObjMat2> output = nullptr;
std::cout << processor->Name() << stream <<std::endl;
if (sum == 1) { if (sum == 1) {
if (out != nullptr) { if (out != nullptr) {
auto &&output = Object::Cast<ObjMat>(out); auto &&output = Object::Cast<ObjMat>(out);
@ -469,205 +450,6 @@ bool Synthetic::IsStreamEnabledSynthetic(const Stream &stream) const {
return GetStreamEnabledMode(stream) == MODE_SYNTHETIC; return GetStreamEnabledMode(stream) == MODE_SYNTHETIC;
} }
void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
if (IsStreamDataEnabled(stream))
return;
// Activate processors of synthetic stream
auto processor = getProcessorWithStream(stream);
for (unsigned int i = 0; i< processor->target_streams_.size(); i++) {
if (processor->target_streams_[i].stream == stream) {
processor->target_streams_[i].enabled_mode_ = MODE_SYNTHETIC;
}
}
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (!IsStreamDataEnabled(Stream::LEFT))
break;
if (calib_model_ == CalibrationModel::PINHOLE) {
CHECK(ActivateProcessor<RectifyProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
CHECK(ActivateProcessor<RectifyProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
CHECK(ActivateProcessor<RectifyProcessorOCV>());
}
} return;
case Stream::RIGHT_RECTIFIED: {
if (!IsStreamDataEnabled(Stream::RIGHT))
break;
if (calib_model_ == CalibrationModel::PINHOLE) {
CHECK(ActivateProcessor<RectifyProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
CHECK(ActivateProcessor<RectifyProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
CHECK(ActivateProcessor<RectifyProcessorOCV>());
}
} return;
case Stream::DISPARITY: {
EnableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
EnableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
CHECK(ActivateProcessor<DisparityProcessor>());
} return;
case Stream::DISPARITY_NORMALIZED: {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<DisparityNormalizedProcessor>());
} return;
case Stream::POINTS: {
if (calib_model_ == CalibrationModel::PINHOLE) {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<PointsProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
EnableStreamData(Stream::DEPTH, depth + 1);
CHECK(ActivateProcessor<PointsProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} return;
case Stream::DEPTH: {
if (calib_model_ == CalibrationModel::PINHOLE) {
EnableStreamData(Stream::POINTS, depth + 1);
CHECK(ActivateProcessor<DepthProcessorOCV>());
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
EnableStreamData(Stream::DISPARITY, depth + 1);
CHECK(ActivateProcessor<DepthProcessor>());
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} return;
default: break;
}
if (depth == 0) {
LOG(WARNING) << "Enable stream data of " << stream << " failed";
}
}
void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
if (!IsStreamDataEnabled(stream))
return;
// Deactivate processors of synthetic stream
auto data = getControlDateWithStream(stream);
if (data.enabled_mode_ != MODE_NATIVE) {
data.enabled_mode_ = MODE_LAST;
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
DisableStreamData(Stream::DISPARITY, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::RIGHT_RECTIFIED)) {
DisableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
}
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<RectifyProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<RectifyProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
DeactivateProcessor<RectifyProcessorOCV>();
}
} break;
case Stream::RIGHT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
DisableStreamData(Stream::DISPARITY, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
DisableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
}
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<RectifyProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<RectifyProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
DeactivateProcessor<RectifyProcessorOCV>();
}
} break;
case Stream::DISPARITY: {
if (calib_model_ == CalibrationModel::PINHOLE) {
if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DisparityProcessor>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
}
if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
DisableStreamData(Stream::DEPTH, depth + 1);
}
DeactivateProcessor<DisparityProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
case Stream::DISPARITY_NORMALIZED: {
DeactivateProcessor<DisparityNormalizedProcessor>();
} break;
case Stream::POINTS: {
if (calib_model_ == CalibrationModel::PINHOLE) {
if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
DisableStreamData(Stream::DEPTH, depth + 1);
}
DeactivateProcessor<PointsProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
DeactivateProcessor<PointsProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
case Stream::DEPTH: {
if (calib_model_ == CalibrationModel::PINHOLE) {
DeactivateProcessor<DepthProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DepthProcessor>();
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_;
}
} break;
default: return;
}
if (depth > 0) {
LOG(WARNING) << "Disable synthetic stream data of " << stream << " too";
}
} else if (depth == 0) {
LOG(WARNING) << "Disable native stream data of " << stream << " failed";
}
}
void Synthetic::InitProcessors() { void Synthetic::InitProcessors() {
std::shared_ptr<Processor> rectify_processor = nullptr; std::shared_ptr<Processor> rectify_processor = nullptr;
#ifdef WITH_CAM_MODELS #ifdef WITH_CAM_MODELS
@ -696,7 +478,7 @@ void Synthetic::InitProcessors() {
rectify_processor = rectify_processor_ocv; rectify_processor = rectify_processor_ocv;
} }
auto &&disparity_processor = auto &&disparity_processor =
std::make_shared<DisparityProcessor>(DisparityProcessorType::SGBM, std::make_shared<DisparityProcessor>(DisparityComputingMethod::SGBM,
DISPARITY_PROC_PERIOD); DISPARITY_PROC_PERIOD);
auto &&disparitynormalized_processor = auto &&disparitynormalized_processor =
std::make_shared<DisparityNormalizedProcessor>( std::make_shared<DisparityNormalizedProcessor>(
@ -1003,4 +785,15 @@ void Synthetic::OnDepthPostProcess(Object *const out) {
} }
} }
void Synthetic::SetDisparityComputingMethodType(
const DisparityComputingMethod &MethodType) {
if (checkControlDateWithStream(Stream::LEFT_RECTIFIED)) {
auto processor = find_processor<DisparityProcessor>(processor_);
if (processor)
processor->SetDisparityComputingMethodType(MethodType);
return;
}
LOG(ERROR) << "ERROR: no suited processor for disparity computing.";
}
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

2
src/mynteye/api/synthetic.h
View File

@ -80,6 +80,8 @@ class Synthetic {
const struct stream_control_t& ctr_data); const struct stream_control_t& ctr_data);
bool checkControlDateWithStream(const Stream& stream) const; bool checkControlDateWithStream(const Stream& stream) const;
std::shared_ptr<Processor> getProcessorWithStream(const Stream& stream); std::shared_ptr<Processor> getProcessorWithStream(const Stream& stream);
void SetDisparityComputingMethodType(
const DisparityComputingMethod &MethoType);
private: private:
void InitCalibInfo(); void InitCalibInfo();