101 lines
3.5 KiB
C++
101 lines
3.5 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "api/processor/disparity_processor.h"
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#include <opencv2/calib3d/calib3d.hpp>
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#include <glog/logging.h>
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MYNTEYE_BEGIN_NAMESPACE
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DisparityProcessor::DisparityProcessor() : Processor() {
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VLOG(2) << __func__;
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int sgbmWinSize = 3;
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int numberOfDisparities = 64;
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#ifdef USE_OPENCV2
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// StereoSGBM
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// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?#stereosgbm
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sgbm_ = cv::Ptr<cv::StereoSGBM>(
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new cv::StereoSGBM(
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0, // minDisparity
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numberOfDisparities, // numDisparities
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sgbmWinSize, // SADWindowSize
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8 * sgbmWinSize * sgbmWinSize, // P1
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32 * sgbmWinSize * sgbmWinSize, // P2
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1, // disp12MaxDiff
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63, // preFilterCap
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10, // uniquenessRatio
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100, // speckleWindowSize
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32, // speckleRange
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false)); // fullDP
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#else
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sgbm_ = cv::StereoSGBM::create(0, 16, 3);
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sgbm_->setPreFilterCap(63);
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sgbm_->setBlockSize(sgbmWinSize);
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sgbm_->setP1(8 * sgbmWinSize * sgbmWinSize);
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sgbm_->setP2(32 * sgbmWinSize * sgbmWinSize);
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sgbm_->setMinDisparity(0);
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sgbm_->setNumDisparities(numberOfDisparities);
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sgbm_->setUniquenessRatio(10);
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sgbm_->setSpeckleWindowSize(100);
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sgbm_->setSpeckleRange(32);
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sgbm_->setDisp12MaxDiff(1);
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#endif
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}
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DisparityProcessor::~DisparityProcessor() {
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VLOG(2) << __func__;
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}
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std::string DisparityProcessor::Name() {
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return NAME;
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}
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Object *DisparityProcessor::OnCreateOutput() {
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return new ObjMat();
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}
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bool DisparityProcessor::OnProcess(
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Object *const in, Object *const out, Processor *const parent) {
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UNUSED(parent)
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const ObjMat2 *input = Object::Cast<ObjMat2>(in);
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ObjMat *output = Object::Cast<ObjMat>(out);
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cv::Mat disparity;
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#ifdef USE_OPENCV2
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// StereoSGBM::operator()
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// http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereosgbm-operator
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// Output disparity map. It is a 16-bit signed single-channel image of the
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// same size as the input image.
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// It contains disparity values scaled by 16. So, to get the floating-point
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// disparity map,
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// you need to divide each disp element by 16.
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(*sgbm_)(input->first, input->second, disparity);
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#else
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// compute()
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// http://docs.opencv.org/master/d2/d6e/classcv_1_1StereoMatcher.html
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// Output disparity map. It has the same size as the input images.
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// Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point
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// disparity map
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// (where each disparity value has 4 fractional bits),
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// whereas other algorithms output 32-bit floating-point disparity map.
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sgbm_->compute(input->first, input->second, disparity);
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#endif
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output->value = disparity / 16 + 1;
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return true;
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}
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MYNTEYE_END_NAMESPACE
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