64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
#ifndef MYNTEYE_API_PROCESSOR_DISPARITY_PROCESSOR_H_
|
|
#define MYNTEYE_API_PROCESSOR_DISPARITY_PROCESSOR_H_
|
|
#pragma once
|
|
|
|
#include <string>
|
|
#include "mynteye/api/processor.h"
|
|
#include "mynteye/types.h"
|
|
|
|
namespace cv {
|
|
|
|
class StereoSGBM;
|
|
class StereoBM;
|
|
} // namespace cv
|
|
|
|
MYNTEYE_BEGIN_NAMESPACE
|
|
|
|
class DisparityProcessor : public Processor {
|
|
public:
|
|
static const char NAME[];
|
|
|
|
explicit DisparityProcessor(DisparityComputingMethod type,
|
|
std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos,
|
|
std::int32_t proc_period = 0);
|
|
virtual ~DisparityProcessor();
|
|
|
|
std::string Name() override;
|
|
void SetDisparityComputingMethodType(
|
|
const DisparityComputingMethod &MethodType);
|
|
void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
|
|
bool ConfigFromFile(const std::string& config);
|
|
|
|
protected:
|
|
// inline Processor::process_type ProcessOutputConnection() override {
|
|
// return Processor::WITHOUT_CLONE;
|
|
// }
|
|
Object *OnCreateOutput() override;
|
|
bool OnProcess(
|
|
Object *const in, Object *const out,
|
|
std::shared_ptr<Processor> const parent) override;
|
|
|
|
private:
|
|
cv::Ptr<cv::StereoSGBM> sgbm_matcher;
|
|
cv::Ptr<cv::StereoBM> bm_matcher;
|
|
DisparityComputingMethod type_;
|
|
double cx1_minus_cx2_;
|
|
};
|
|
|
|
MYNTEYE_END_NAMESPACE
|
|
|
|
#endif // MYNTEYE_API_PROCESSOR_DISPARITY_PROCESSOR_H_
|