Rename module DisparityCVVar

2014-05-19 00:55:17 +01:00
1 parent a528b686ec
commit 93095363b8
@@ -0,0 +1,89 @@
+/*    This file is a part of plaYUVer project
+ *    Copyright (C) 2014  by Luis Lucas      (luisfrlucas@gmail.com)
+ *                           Joao Carreira   (jfmcarreira@gmail.com)
+ *
+ *    This program is free software; you can redistribute it and/or modify
+ *    it under the terms of the GNU General Public License as published by
+ *    the Free Software Foundation; either version 2 of the License, or
+ *    (at your option) any later version.
+ *
+ *    This program is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License along
+ *   with this program; if not, write to the Free Software Foundation, Inc.,
+ *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ */
+
+/**
+ * \file     DisparityStereoVar.cpp
+ * \brief    Measure the disparity between two images using the Stereo Var method (OpenCV)
+ */
+
+#include <cstdio>
+
+#include "DisparityStereoVar.h"
+#include "PlaYUVerFrame.h"
+
+namespace plaYUVer
+{
+
+static PlaYUVerModuleDefinition DisparityStereoVarDef =
+{
+    FRAME_LEVEL_MODULE,
+    "Disparity",
+    "StereoVar",
+    "Measure the disparity between two images using the Stereo Var method (OpenCV)",
+    MODULE_REQUIRES_TWO_FRAMES,
+    MODULE_REQUIRES_NEW_WINDOW,
+    !APPLY_WHILE_PLAYING,
+};
+
+DisparityStereoVar::DisparityStereoVar()
+{
+  setModuleDefinition( DisparityStereoVarDef );
+  m_pcDisparityFrame = NULL;
+  m_cStereoVar.levels = 3;                                 // ignored with USE_AUTO_PARAMS
+  m_cStereoVar.pyrScale = 0.5;                             // ignored with USE_AUTO_PARAMS
+  m_cStereoVar.nIt = 25;
+
+  m_cStereoVar.maxDisp = 0;
+  m_cStereoVar.poly_n = 3;
+  m_cStereoVar.poly_sigma = 0.0;
+  m_cStereoVar.fi = 15.0f;
+  m_cStereoVar.lambda = 0.03f;
+  m_cStereoVar.penalization = m_cStereoVar.PENALIZATION_TICHONOV;            // ignored with USE_AUTO_PARAMS
+  m_cStereoVar.cycle = m_cStereoVar.CYCLE_V;                                 // ignored with USE_AUTO_PARAMS
+  m_cStereoVar.flags = m_cStereoVar.USE_SMART_ID | m_cStereoVar.USE_AUTO_PARAMS | m_cStereoVar.USE_INITIAL_DISPARITY | m_cStereoVar.USE_MEDIAN_FILTERING;
+}
+
+Void DisparityStereoVar::create( PlaYUVerFrame* InputFrame )
+{
+  m_pcDisparityFrame = new PlaYUVerFrame( InputFrame->getWidth(), InputFrame->getHeight(), PlaYUVerFrame::GRAY );
+  m_cStereoVar.minDisp = -( ( ( InputFrame->getWidth() / 8 ) + 15 ) & -16 );
+}
+
+PlaYUVerFrame* DisparityStereoVar::process( PlaYUVerFrame* InputLeft, PlaYUVerFrame* InputRight )
+{
+  cv::Mat leftImage = InputLeft->getCvMat();
+  cv::Mat rightImage = InputRight->getCvMat();
+  cv::Mat disparityImage, disparityImage8;
+
+  m_cStereoVar(leftImage,rightImage,disparityImage);
+  disparityImage.convertTo(disparityImage8,CV_8U);
+
+  m_pcDisparityFrame->copyFrom(&disparityImage8);
+  return m_pcDisparityFrame;
+}
+
+Void DisparityStereoVar::destroy()
+{
+  if( m_pcDisparityFrame )
+    delete m_pcDisparityFrame;
+  m_pcDisparityFrame = NULL;
+}
+
+}  // NAMESPACE
+