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Made some modification of code style and perfect function

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This commit is contained in:
Osenberg-Y 2018-08-13 18:42:53 +08:00
parent 5677aa56b2
commit 23e28e20a6
3 changed files with 19 additions and 11 deletions
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17
src/api/processor/disparity_processor.cc
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@ -28,8 +28,16 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
int blockSize_ = 15; // 15 int blockSize_ = 15; // 15
int minDisparity_ = 0; // 0
int numDisparities_ = 64; // 64 int numDisparities_ = 64; // 64
#ifdef USE_OPENCV2
bm_ = cv::Ptr<cv::StereoBM>(
new cv::StereoBM(
cv::StereoBM::BASIC_PRESET,
numDisparities_,
blockSize_));
#else
int minDisparity_ = 0; // 0
int preFilterSize_ = 9; // 9 int preFilterSize_ = 9; // 9
int preFilterCap_ = 31; // 31 int preFilterCap_ = 31; // 31
int uniquenessRatio_ = 15; // 15 int uniquenessRatio_ = 15; // 15
@ -37,7 +45,7 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
int speckleWindowSize_ = 100; // 100 int speckleWindowSize_ = 100; // 100
int speckleRange_ = 4; // 4 int speckleRange_ = 4; // 4
bm_ = cv::StereoBM::create(); bm_ = cv::StereoBM::create(16, 9);
bm_->setBlockSize(blockSize_); bm_->setBlockSize(blockSize_);
bm_->setMinDisparity(minDisparity_); bm_->setMinDisparity(minDisparity_);
bm_->setNumDisparities(numDisparities_); bm_->setNumDisparities(numDisparities_);
@ -47,6 +55,7 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
bm_->setTextureThreshold(textureThreshold_); bm_->setTextureThreshold(textureThreshold_);
bm_->setSpeckleWindowSize(speckleWindowSize_); bm_->setSpeckleWindowSize(speckleWindowSize_);
bm_->setSpeckleRange(speckleRange_); bm_->setSpeckleRange(speckleRange_);
#endif
} }
DisparityProcessor::~DisparityProcessor() { DisparityProcessor::~DisparityProcessor() {
@ -68,7 +77,11 @@ bool DisparityProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out); ObjMat *output = Object::Cast<ObjMat>(out);
cv::Mat disparity; cv::Mat disparity;
#ifdef USE_OPENCV2
(*bm_)(input->first, input->second, disparity);
#else
bm_->compute(input->first, input->second, disparity); bm_->compute(input->first, input->second, disparity);
#endif
disparity.convertTo(output->value, CV_32F, 1./16); disparity.convertTo(output->value, CV_32F, 1./16);
return true; return true;
} }

4
src/api/processor/disparity_processor.h
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@ -21,13 +21,11 @@
#include "api/processor/processor.h" #include "api/processor/processor.h"
#if 0
namespace cv { namespace cv {
class StereoSGBM; class StereoBM;
} // namespace cv } // namespace cv
#endif
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE

9
src/api/processor/points_processor.cc
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@ -45,8 +45,7 @@ bool PointsProcessor::OnProcess(
UNUSED(parent) UNUSED(parent)
const ObjMat *input = Object::Cast<ObjMat>(in); const ObjMat *input = Object::Cast<ObjMat>(in);
ObjMat *output = Object::Cast<ObjMat>(out); ObjMat *output = Object::Cast<ObjMat>(out);
// cv::reprojectImageTo3D(input->value, output->value, Q_, true, -1);
bool handleMissingValues = true;
cv::Mat disparity = input->value; cv::Mat disparity = input->value;
output->value.create(disparity.size(), CV_MAKETYPE(CV_32FC3, 3)); output->value.create(disparity.size(), CV_MAKETYPE(CV_32FC3, 3));
cv::Mat _3dImage = output->value; cv::Mat _3dImage = output->value;
@ -60,12 +59,9 @@ bool PointsProcessor::OnProcess(
double minDisparity = FLT_MAX; double minDisparity = FLT_MAX;
if (handleMissingValues) { cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0);
cv::minMaxIdx(disparity, &minDisparity, 0, 0, 0);
}
for (int y = 0; y < disparity.rows; y++) { for (int y = 0; y < disparity.rows; y++) {
float *sptr = disparity.ptr<float>(y); float *sptr = disparity.ptr<float>(y);
cv::Vec3f *dptr = _3dImage.ptr<cv::Vec3f>(y); cv::Vec3f *dptr = _3dImage.ptr<cv::Vec3f>(y);
@ -81,6 +77,7 @@ bool PointsProcessor::OnProcess(
} }
} }
} }
return true; return true;
} }