feat(bm model): add bm model

src/mynteye/api/processor/disparity_processor.cc

@@ -16,6 +16,7 @@
 #include <utility>
 
 #include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
 
@@ -23,41 +24,76 @@ MYNTEYE_BEGIN_NAMESPACE
 
 const char DisparityProcessor::NAME[] = "DisparityProcessor";
 
-DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
+DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
-    : Processor(std::move(proc_period)) {
+    std::int32_t proc_period)
+    : Processor(std::move(proc_period)), type_(type) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  int sgbmWinSize = 3;
+
-  int numberOfDisparities = 64;
+  if (type_ == DisparityProcessorType::SGBM) {
+    int sgbmWinSize = 3;
+    int numberOfDisparities = 64;
 
 #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
-  sgbm_ = cv::Ptr<cv::StereoSGBM>(
+    sgbm_matcher = cv::Ptr<cv::StereoSGBM>(
-      new cv::StereoSGBM(
+        new cv::StereoSGBM(
-          0,                               // minDisparity
+            0,                               // minDisparity
-          numberOfDisparities,             // numDisparities
+            numberOfDisparities,             // numDisparities
-          sgbmWinSize,                     // SADWindowSize
+            sgbmWinSize,                     // SADWindowSize
-          8 * sgbmWinSize * sgbmWinSize,   // P1
+            8 * sgbmWinSize * sgbmWinSize,   // P1
-          32 * sgbmWinSize * sgbmWinSize,  // P2
+            32 * sgbmWinSize * sgbmWinSize,  // P2
-          1,                               // disp12MaxDiff
+            1,                               // disp12MaxDiff
-          63,                              // preFilterCap
+            63,                              // preFilterCap
-          10,                              // uniquenessRatio
+            10,                              // uniquenessRatio
-          100,                             // speckleWindowSize
+            100,                             // speckleWindowSize
-          32,                              // speckleRange
+            32,                              // speckleRange
-          false));                         // fullDP
+            false));                         // fullDP
 #else
-  sgbm_ = cv::StereoSGBM::create(0, 16, 3);
+    sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
-  sgbm_->setPreFilterCap(63);
+    sgbm_matcher->setPreFilterCap(63);
-  sgbm_->setBlockSize(sgbmWinSize);
+    sgbm_matcher->setBlockSize(sgbmWinSize);
-  sgbm_->setP1(8 * sgbmWinSize * sgbmWinSize);
+    sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
-  sgbm_->setP2(32 * sgbmWinSize * sgbmWinSize);
+    sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
-  sgbm_->setMinDisparity(0);
+    sgbm_matcher->setMinDisparity(0);
-  sgbm_->setNumDisparities(numberOfDisparities);
+    sgbm_matcher->setNumDisparities(numberOfDisparities);
-  sgbm_->setUniquenessRatio(10);
+    sgbm_matcher->setUniquenessRatio(10);
-  sgbm_->setSpeckleWindowSize(100);
+    sgbm_matcher->setSpeckleWindowSize(100);
-  sgbm_->setSpeckleRange(32);
+    sgbm_matcher->setSpeckleRange(32);
-  sgbm_->setDisp12MaxDiff(1);
+    sgbm_matcher->setDisp12MaxDiff(1);
 #endif
+  } else if (type_ == DisparityProcessorType::BM) {
+#ifdef WITH_OPENCV2
+    int bmWinSize = 3;
+    // StereoBM
+    //   https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm-stereobm
+    bm_matcher = cv::Ptr<cv::StereoBM>(new cv::StereoBM(
+        int 0,
+        64,
+        100,
+        8 * bmWinSize * bmWinSize,
+        32 * bmWinSize * bmWinSize,
+        int -1,
+        int 31,
+        15,
+        100,
+        4));
+#else
+    bm_matcher = cv::StereoBM::create(0, 3);
+    bm_matcher->setPreFilterSize(9);
+    bm_matcher->setPreFilterCap(31);
+    bm_matcher->setBlockSize(15);
+    bm_matcher->setMinDisparity(0);
+    bm_matcher->setNumDisparities(64);
+    bm_matcher->setUniquenessRatio(15);
+    bm_matcher->setTextureThreshold(10);
+    bm_matcher->setSpeckleWindowSize(100);
+    bm_matcher->setSpeckleRange(4);
+    bm_matcher->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
+#endif
+  } else {
+    LOG(ERROR) << "no enum DisparityProcessorType" << static_cast<int>(type);
+  }
 }
 
 DisparityProcessor::~DisparityProcessor() {
@@ -87,7 +123,11 @@ bool DisparityProcessor::OnProcess(
   // It contains disparity values scaled by 16. So, to get the floating-point
   // disparity map,
   // you need to divide each disp element by 16.
-  (*sgbm_)(input->first, input->second, disparity);
+  if (type_ == SGBM) {
+    (*sgbm_matcher)(input->first, input->second, disparity);
+  } else if (type_ == BM) {
+    (*bm_matcher)(input->first, input->second, disparity);
+  }
 #else
   // compute()
   //   http://docs.opencv.org/master/d2/d6e/classcv_1_1StereoMatcher.html
@@ -96,7 +136,15 @@ bool DisparityProcessor::OnProcess(
   // disparity map
   // (where each disparity value has 4 fractional bits),
   // whereas other algorithms output 32-bit floating-point disparity map.
-  sgbm_->compute(input->first, input->second, disparity);
+  if (type_ == DisparityProcessorType::SGBM) {
+    sgbm_matcher->compute(input->first, input->second, disparity);
+  } 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
   disparity.convertTo(output->value, CV_32F, 1./16, 1);
   output->id = input->first_id;

src/mynteye/api/processor/disparity_processor.h

@@ -16,22 +16,33 @@
 #pragma once
 
 #include <string>
-
+#include <opencv2/ximgproc/disparity_filter.hpp>
 #include "mynteye/api/processor.h"
 
 namespace cv {
 
 class StereoSGBM;
-
+class StereoBM;
 }  // namespace cv
 
+enum class DisparityProcessorType : std::uint8_t {
+  /** bm */
+  SGBM = 0,
+  /** Equidistant: KANNALA_BRANDT */
+  BM = 1,
+  /** Unknow */
+  UNKNOW
+};
+
+
 MYNTEYE_BEGIN_NAMESPACE
 
 class DisparityProcessor : public Processor {
  public:
   static const char NAME[];
 
-  explicit DisparityProcessor(std::int32_t proc_period = 0);
+  explicit DisparityProcessor(DisparityProcessorType type,
+      std::int32_t proc_period = 0);
   virtual ~DisparityProcessor();
 
   std::string Name() override;
@@ -42,7 +53,9 @@ class DisparityProcessor : public Processor {
       Object *const in, Object *const out, Processor *const parent) override;
 
  private:
-  cv::Ptr<cv::StereoSGBM> sgbm_;
+  cv::Ptr<cv::StereoSGBM> sgbm_matcher;
+  cv::Ptr<cv::StereoBM> bm_matcher;
+  DisparityProcessorType type_;
 };
 
 MYNTEYE_END_NAMESPACE

src/mynteye/api/synthetic.cc

@@ -613,7 +613,8 @@ void Synthetic::InitProcessors() {
     rectify_processor = rectify_processor_ocv;
   }
   auto &&disparity_processor =
-      std::make_shared<DisparityProcessor>(DISPARITY_PROC_PERIOD);
+      std::make_shared<DisparityProcessor>(DisparityProcessorType::BM,
+                                           DISPARITY_PROC_PERIOD);
   auto &&disparitynormalized_processor =
       std::make_shared<DisparityNormalizedProcessor>(
           DISPARITY_NORM_PROC_PERIOD);