fix(bm matcher): add complie switch

cmake/Option.cmake

@@ -24,6 +24,7 @@ option(WITH_API "Build with API layer, need OpenCV" 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_BM_SOBEL_FILTER "Build with bm and sobel filter, need OpenCV contronb" OFF)
 
 # 3rdparty components
 

include/mynteye/mynteye.h.in

@@ -71,6 +71,7 @@ MYNTEYE_END_NAMESPACE
 #cmakedefine WITH_API
 #cmakedefine WITH_DEVICE_INFO_REQUIRED
 #cmakedefine WITH_CAM_MODELS
+#cmakedefine WITH_BM_SOBEL_FILTER
 
 #cmakedefine WITH_OPENCV
 #cmakedefine WITH_OPENCV2

src/mynteye/api/processor/depth_processor.cc

@@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
   int rows = input->value.rows;
   int cols = input->value.cols;
-  std::cout << calib_infos_->T_mul_f << std::endl;
+  // std::cout << calib_infos_->T_mul_f << std::endl;
   // 0.0793434
   cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
   for (int i = 0; i < rows; i++) {

src/mynteye/api/processor/disparity_processor.cc

@@ -17,6 +17,9 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#ifdef WITH_BM_SOBEL_FILTER
+#include <opencv2/ximgproc/disparity_filter.hpp>
+#endif
 
 #include "mynteye/logger.h"
 
@@ -62,6 +65,7 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
     sgbm_matcher->setSpeckleRange(32);
     sgbm_matcher->setDisp12MaxDiff(1);
 #endif
+#ifdef WITH_BM_SOBEL_FILTER
   } else if (type_ == DisparityProcessorType::BM) {
 #ifdef WITH_OPENCV2
     int bmWinSize = 3;
@@ -90,9 +94,42 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
     bm_matcher->setSpeckleWindowSize(100);
     bm_matcher->setSpeckleRange(4);
     bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
+#endif
 #endif
   } else {
-    LOG(ERROR) << "no enum DisparityProcessorType" << static_cast<int>(type);
+    LOG(ERROR) << "no enum DisparityProcessorType,use default sgbm";
+    int sgbmWinSize = 3;
+    int numberOfDisparities = 64;
+
+#ifdef WITH_OPENCV2
+    // StereoSGBM
+    //   http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm
+    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
   }
 }
 
@@ -138,12 +175,16 @@ bool DisparityProcessor::OnProcess(
   // whereas other algorithms output 32-bit floating-point disparity map.
   if (type_ == DisparityProcessorType::SGBM) {
     sgbm_matcher->compute(input->first, input->second, disparity);
+#ifdef WITH_BM_SOBEL_FILTER
   } else if (type_ == DisparityProcessorType::BM) {
-    CvSize size = input->first.size();
     cv::Mat tmp1, tmp2;
     cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
     cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
     bm_matcher->compute(tmp1, tmp2, disparity);
+#endif
+  } else {
+    // default
+    sgbm_matcher->compute(input->first, input->second, disparity);
   }
 #endif
   disparity.convertTo(output->value, CV_32F, 1./16, 1);

src/mynteye/api/processor/disparity_processor.h

@@ -16,7 +16,6 @@
 #pragma once
 
 #include <string>
-#include <opencv2/ximgproc/disparity_filter.hpp>
 #include "mynteye/api/processor.h"
 
 namespace cv {

src/mynteye/api/synthetic.cc

@@ -613,7 +613,7 @@ void Synthetic::InitProcessors() {
     rectify_processor = rectify_processor_ocv;
   }
   auto &&disparity_processor =
-      std::make_shared<DisparityProcessor>(DisparityProcessorType::BM,
+      std::make_shared<DisparityProcessor>(DisparityProcessorType::SGBM,
                                            DISPARITY_PROC_PERIOD);
   auto &&disparitynormalized_processor =
       std::make_shared<DisparityNormalizedProcessor>(