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Merge branch 'develop' into feature/android

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* develop:
  build(makefile): do small change
  fix(option.cmake): find boost quiet
  docs(doc): update version
  fix(ros): add mutex_data_ in mono
  fix(disable order): fix disable order DISPARITY before RECTIFIED
  fix(synthetic): disable order
  fix(ros): publish order
  fix(ros): fix imu count bug
  fix(tools): compatible avatar and s
  fix(samples): delete get all info sample
  fix(ros): set publish_imu_by_sync true
  fix(ros): add default intrinsics in ros node
  docs(readme): modified temp to temperature
  fix(process): opencv2 and remove some useless include
  fix(enum) fix DisparityProcessorType enum comment
  fix(bm matcher): add complie switch
This commit is contained in:
John Zhao
2019-01-16 20:05:28 +08:00
parent d673a151c9 637d08984d
commit d6ff3470f1
16 changed files with 194 additions and 110 deletions
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2
src/mynteye/api/processor/depth_processor.cc
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@@ -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++) {

70
src/mynteye/api/processor/disparity_processor.cc
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@@ -17,9 +17,14 @@
#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"
#define WITH_BM_SOBEL_FILTER
MYNTEYE_BEGIN_NAMESPACE
const char DisparityProcessor::NAME[] = "DisparityProcessor";
@@ -62,7 +67,9 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
sgbm_matcher->setSpeckleRange(32);
sgbm_matcher->setDisp12MaxDiff(1);
#endif
#ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) {
int bmWinSize = 3;
#ifdef WITH_OPENCV2
int bmWinSize = 3;
// StereoBM
@@ -82,7 +89,7 @@ DisparityProcessor::DisparityProcessor(DisparityProcessorType type,
bm_matcher = cv::StereoBM::create(0, 3);
bm_matcher->setPreFilterSize(9);
bm_matcher->setPreFilterCap(31);
bm_matcher->setBlockSize(15);
bm_matcher->setBlockSize(bmWinSize);
bm_matcher->setMinDisparity(0);
bm_matcher->setNumDisparities(64);
bm_matcher->setUniquenessRatio(15);
@@ -90,9 +97,42 @@ 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
}
}
@@ -123,10 +163,15 @@ 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.
if (type_ == SGBM) {
if (type_ == DisparityProcessorType::SGBM) {
(*sgbm_matcher)(input->first, input->second, disparity);
} else if (type_ == BM) {
(*bm_matcher)(input->first, input->second, disparity);
#ifdef WITH_BM_SOBEL_FILTER
} else if (type_ == DisparityProcessorType::BM) {
cv::Mat tmp1, tmp2;
cv::cvtColor(input->first, tmp1, CV_RGB2GRAY);
cv::cvtColor(input->second, tmp2, CV_RGB2GRAY);
(*bm_matcher)(tmp1, tmp2, disparity);
#endif
}
#else
// compute()
@@ -138,12 +183,21 @@ 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);
if (input->first.channels() == 1) {
// s1030
} else if (input->first.channels() == 3) {
// s210
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);

5
src/mynteye/api/processor/disparity_processor.h
View File

@@ -16,7 +16,6 @@
#pragma once
#include <string>
#include <opencv2/ximgproc/disparity_filter.hpp>
#include "mynteye/api/processor.h"
namespace cv {
@@ -28,9 +27,9 @@ class StereoBM;
enum class DisparityProcessorType : std::uint8_t {
/** bm */
SGBM = 0,
/** Equidistant: KANNALA_BRANDT */
/** sgbm */
BM = 1,
/** Unknow */
/** unknow */
UNKNOW
};

3
src/mynteye/api/processor/rectify_processor.h
View File

@@ -25,9 +25,6 @@
#include "mynteye/device/device.h"
#include <camodocal/camera_models/EquidistantCamera.h>
#include <opencv2/core/eigen.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <boost/program_options.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>

43
src/mynteye/api/synthetic.cc
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@@ -496,12 +496,12 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
stream_enabled_mode_.erase(stream);
switch (stream) {
case Stream::LEFT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::RIGHT_RECTIFIED)) {
DisableStreamData(Stream::RIGHT_RECTIFIED, depth + 1);
}
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
@@ -515,12 +515,12 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
}
} break;
case Stream::RIGHT_RECTIFIED: {
if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
DisableStreamData(Stream::LEFT_RECTIFIED, depth + 1);
}
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
@@ -534,13 +534,28 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
}
} break;
case Stream::DISPARITY: {
if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
DisableStreamData(Stream::DISPARITY_NORMALIZED, depth + 1);
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_;
}
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DisparityProcessor>();
} break;
case Stream::DISPARITY_NORMALIZED: {
DeactivateProcessor<DisparityNormalizedProcessor>();
@@ -565,7 +580,7 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
DeactivateProcessor<DepthProcessorOCV>();
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
if (IsStreamEnabledSynthetic(Stream::POINTS)) {
DisableStreamData(Stream::POINTS, depth + 1);
}
DeactivateProcessor<DepthProcessor>();
@@ -613,7 +628,7 @@ 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>(