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optimized pointscloud

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This commit is contained in:
Osenberg-Y 2018-08-09 12:14:54 +08:00
parent 45b4fdeedf
commit f92ecd4371
2 changed files with 26 additions and 52 deletions
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72
src/api/processor/disparity_processor.cc
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@ -26,38 +26,26 @@ const char DisparityProcessor::NAME[] = "DisparityProcessor";
DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
: Processor(std::move(proc_period)) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
int sgbmWinSize = 3;
int numberOfDisparities = 64;
int blockSize_ = 15; // 15
int minDisparity_ = 0; // 0
int numDisparities_ = 64; // 64
int preFilterSize_ = 9; // 9
int preFilterCap_ = 31; // 31
int uniquenessRatio_ = 15; // 15
int textureThreshold_ = 10; // 10
int speckleWindowSize_ = 100; // 100
int speckleRange_ = 4; // 4
#ifdef USE_OPENCV2
// StereoSGBM
// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm
sgbm_ = 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_ = cv::StereoSGBM::create(0, 16, 3);
sgbm_->setPreFilterCap(63);
sgbm_->setBlockSize(sgbmWinSize);
sgbm_->setP1(8 * sgbmWinSize * sgbmWinSize);
sgbm_->setP2(32 * sgbmWinSize * sgbmWinSize);
sgbm_->setMinDisparity(0);
sgbm_->setNumDisparities(numberOfDisparities);
sgbm_->setUniquenessRatio(10);
sgbm_->setSpeckleWindowSize(100);
sgbm_->setSpeckleRange(32);
sgbm_->setDisp12MaxDiff(1);
#endif
bm_ = cv::StereoBM::create();
bm_->setBlockSize(blockSize_);
bm_->setMinDisparity(minDisparity_);
bm_->setNumDisparities(numDisparities_);
bm_->setPreFilterSize(preFilterSize_);
bm_->setPreFilterCap(preFilterCap_);
bm_->setUniquenessRatio(uniquenessRatio_);
bm_->setTextureThreshold(textureThreshold_);
bm_->setSpeckleWindowSize(speckleWindowSize_);
bm_->setSpeckleRange(speckleRange_);
}
DisparityProcessor::~DisparityProcessor() {
@ -79,26 +67,8 @@ bool DisparityProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out);
cv::Mat disparity;
#ifdef USE_OPENCV2
// StereoSGBM::operator()
// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereosgbm-operator
// Output disparity map. It is a 16-bit signed single-channel image of the
// same size as the input image.
// 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);
#else
// compute()
// http://docs.opencv.org/master/d2/d6e/classcv_1_1StereoMatcher.html
// Output disparity map. It has the same size as the input images.
// Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point
// 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);
#endif
output->value = disparity / 16 + 1;
bm_->compute(input->first, input->second, disparity);
output->value = disparity;
return true;
}

6
src/api/processor/disparity_processor.h
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@ -17,13 +17,17 @@
#include <string>
#include <opencv2/calib3d/calib3d.hpp>
#include "api/processor/processor.h"
#if 0
namespace cv {
class StereoSGBM;
} // namespace cv
#endif
MYNTEYE_BEGIN_NAMESPACE
@ -42,7 +46,7 @@ class DisparityProcessor : public Processor {
Object *const in, Object *const out, Processor *const parent) override;
private:
cv::Ptr<cv::StereoSGBM> sgbm_;
cv::Ptr<cv::StereoBM> bm_;
};
MYNTEYE_END_NAMESPACE