Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

config/disparity_config.yaml

@@ -0,0 +1,75 @@
+%YAML:1.0
+---
+SGBM:
+# must define for opencv check
+    name: StereoMatcher.SGBM
+
+# Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct.
+# Normally, a value within the 5-15 range is good enough.
+    uniquenessRatio: 10
+
+# Maximum size of smooth disparity regions to consider their noise speckles and invalidate.
+# Set it to 0 to disable speckle filtering.
+# Otherwise, set it somewhere in the 50-200 range.
+    speckleWindowSize: 100
+
+# Maximum disparity variation within each connected component.
+# If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
+# Normally, 1 or 2 is good enough.
+    speckleRange: 32
+
+# Minimum possible disparity value.
+# Normally, it is zero but sometimes rectification algorithms
+# can shift images, so this parameter needs to be adjusted accordingly.
+    minDisparity: 0
+
+# Maximum allowed difference (in integer pixel units) in the left-right disparity check.
+# Set it to a non-positive value to disable the check.
+    disp12MaxDiff: 1
+
+# Truncation value for the prefiltered image pixels.
+# The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
+# The result values are passed to the Birchfield-Tomasi pixel cost function.
+    preFilterCap: 63
+
+# Maximum disparity minus minimum disparity.
+# The value is always greater than zero.
+# In the current implementation, this parameter must be divisible by 16.
+    numDisparities: 64
+
+# Matched block size. It must be an odd number >=1 .
+# Normally, it should be somewhere in the 3..11 range.
+    blockSize: 3
+
+# The first parameter controlling the disparity smoothness. See below.
+    P1: 72
+
+# The second parameter controlling the disparity smoothness.
+# The larger the values are, the smoother the disparity is.
+# P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
+# P2 is the penalty on the disparity change by more than 1 between neighbor pixels.
+# The algorithm requires P2 > P1 .
+    P2: 188
+
+BM:
+# must define for opencv check
+    name: StereoMatcher.BM
+    uniquenessRatio: 60
+    speckleWindowSize: 100
+    speckleRange: 4
+    minDisparity: 0
+    disp12MaxDiff: 1
+    preFilterCap: 31
+# the disparity search range.
+# For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities.
+# The search range can then be shifted by changing the minimum disparity.
+    numDisparities: 64
+
+# the linear size of the blocks compared by the algorithm.
+# The size should be odd (as the block is centered at the current pixel).
+# Larger block size implies smoother, though less accurate disparity map.
+# Smaller block size gives more detailed disparity map,
+# but there is higher chance for algorithm to find a wrong correspondence.
+    blockSize: 15
+    preFilterSize: 9
+    textureThreshold: 10

include/mynteye/api/api.h

@@ -204,15 +204,6 @@ class MYNTEYE_API API {
    * Get the intrinsics base of stream.
    */
   std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const;
-  /**
-   * Get the intrinsics of stream.
-   */
-  template <typename T>
-  T GetDisparityParams() const;
-  /**
-   * Get the intrinsics base of stream.
-   */
-  std::shared_ptr<DisparityParamsBase> GetDisparityParamsBase() const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -368,6 +359,11 @@ class MYNTEYE_API API {
    */
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
 
+  /**
+   * Load disparity config from file.
+   */
+  bool ConfigDisparityFromFile(const std::string& config_file);
+
  private:
   std::shared_ptr<Device> device_;
 

include/mynteye/types.h

@@ -644,33 +644,6 @@ enum class DisparityComputingMethod : std::uint8_t {
   UNKNOW
 };
 
-struct MYNTEYE_API DisparityParamsBase {
-  DisparityParamsBase() {
-    disparity_model_ = DisparityComputingMethod::UNKNOW;
-  }
-  virtual ~DisparityParamsBase() {}
-  virtual void ResizeIntrinsics() {}
-
-  /** The calibration model */
-  DisparityComputingMethod disparity_model() const {
-    return disparity_model_;
-  }
- protected:
-  DisparityComputingMethod disparity_model_;
-};
-
-struct MYNTEYE_API DisparityParamsSGBM : public DisparityParamsBase {
-  DisparityParamsSGBM() {
-    disparity_model_ = DisparityComputingMethod::SGBM;
-  }
-};
-
-struct MYNTEYE_API DisparityParamsBM : public DisparityParamsBase {
-  DisparityParamsBM() {
-    disparity_model_ = DisparityComputingMethod::BM;
-  }
-};
-
 /**
  * @defgroup datatypes Datatypes
  * @brief Public data types.

samples/tutorials/data/get_disparity.cc

@@ -14,6 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 
 #include "mynteye/api/api.h"
+#include "mynteye/logger.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -29,6 +30,21 @@ int main(int argc, char *argv[]) {
   // api->EnableStreamData(Stream::DISPARITY);
   api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
 
+  if (argc == 2) {
+    std::string config_path(argv[1]);
+    if (api->ConfigDisparityFromFile(config_path)) {
+      LOG(INFO) << "load disparity file: "
+                << config_path
+                << " success."
+                << std::endl;
+    } else {
+      LOG(INFO) << "load disparity file: "
+                << config_path
+                << " failed."
+                << std::endl;
+    }
+  }
+
   api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
 
   api->Start(Source::VIDEO_STREAMING);

src/mynteye/api/api.cc

@@ -604,4 +604,8 @@ std::shared_ptr<struct CameraROSMsgInfoPair> API::GetCameraROSMsgInfoPair() {
   return synthetic_->GetCameraROSMsgInfoPair();
 }
 
+bool API::ConfigDisparityFromFile(const std::string& config_file) {
+  return synthetic_->ConfigDisparityFromFile(config_file);
+}
+
 MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/disparity_processor.cc

@@ -17,6 +17,7 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core/persistence.hpp>
 
 #include "mynteye/logger.h"
 
@@ -103,6 +104,24 @@ void DisparityProcessor::SetDisparityComputingMethodType(
   NotifyComputingTypeChanged(MethodType);
 }
 
+bool DisparityProcessor::ConfigFromFile(const std::string& config_file) {
+  cv::FileStorage fsSettings(config_file, cv::FileStorage::READ);
+  if (!fsSettings.isOpened()) {
+      std::cerr << "ERROR: Wrong path to settings" << std::endl;
+      return false;
+  }
+  cv::FileNode node_sgbm = fsSettings["SGBM"];
+  if (node_sgbm.type() == cv::FileNode::MAP) {
+    sgbm_matcher->read(node_sgbm);
+  }
+
+  cv::FileNode node_bm = fsSettings["BM"];
+  if (node_bm.type() == cv::FileNode::MAP) {
+    bm_matcher->read(node_bm);
+  }
+  return true;
+}
+
 std::string DisparityProcessor::Name() {
   return NAME;
 }

src/mynteye/api/processor/disparity_processor.h

@@ -39,6 +39,7 @@ class DisparityProcessor : public Processor {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType);
   void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
+  bool ConfigFromFile(const std::string& config);
 
  protected:
   // inline Processor::process_type ProcessOutputConnection() override {

src/mynteye/api/synthetic.cc

@@ -119,6 +119,12 @@ void Synthetic::NotifyImageParamsChanged() {
   }
 }
 
+bool Synthetic::ConfigDisparityFromFile(const std::string& config_file) {
+  auto processor = getProcessorWithStream(Stream::DISPARITY);
+  auto proc = static_cast<DisparityProcessor*>(&(*processor));
+  return proc->ConfigFromFile(config_file);
+}
+
 const struct Synthetic::stream_control_t Synthetic::getControlDateWithStream(
     const Stream& stream) const {
   for (auto &&it : processors_) {

src/mynteye/api/synthetic.h

@@ -94,6 +94,7 @@ class Synthetic {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethoType);
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
+  bool ConfigDisparityFromFile(const std::string& config_file);
 
  private:
   void InitCalibInfo();

wrappers/ros/src/mynt_eye_ros_wrapper/config/slam/vins_fusion.yaml

@@ -17,3 +17,6 @@
 # index_s2_6: "6"
 
 standard2/request_index: 1
+
+# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
+standard/frame_rate: 20