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Do not add DisparityStereoVar module and fix DisparityStereoBM to be compatible with opencv 3.x

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jfmcarreira
2015-07-14 00:15:45 +01:00
parent 62db0dffc4
commit b13c08ef9b
4 changed files with 39 additions and 14 deletions
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modules/DisparityStereoBM.cpp
+31 -12
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@@ -41,10 +41,22 @@ DisparityStereoBM::DisparityStereoBM()
m_uiModuleRequirements = MODULE_REQUIRES_SKIP_WHILE_PLAY | MODULE_REQUIRES_NEW_WINDOW | MODULE_REQUIRES_OPTIONS;
m_cModuleOptions.addOptions()/**/
( "block_size", m_cStereoBM.state->SADWindowSize, "Block Size (positive odd number) [9]" );
( "block_size", m_uiBlockSize, "Block Size (positive odd number) [9]" );
m_pcDisparityFrame = NULL;
m_uiBlockSize = 9;
}
Bool DisparityStereoBM::create( std::vector<PlaYUVerFrame*> apcFrameList )
{
_BASIC_MODULE_API_2_CHECK_
m_pcDisparityFrame = new PlaYUVerFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), PlaYUVerFrame::GRAY );
if( ( m_uiBlockSize % 2 ) == 0 )
{
m_uiBlockSize++;
}
#if( CV_MAJOR_VERSION == 2)
m_cStereoBM.state->preFilterCap = 31;
m_cStereoBM.state->SADWindowSize = 9;
m_cStereoBM.state->minDisparity = 0;
@@ -53,18 +65,20 @@ DisparityStereoBM::DisparityStereoBM()
m_cStereoBM.state->speckleWindowSize = 100;
m_cStereoBM.state->speckleRange = 32;
m_cStereoBM.state->disp12MaxDiff = 1;
}
Bool DisparityStereoBM::create( std::vector<PlaYUVerFrame*> apcFrameList )
{
_BASIC_MODULE_API_2_CHECK_
m_pcDisparityFrame = new PlaYUVerFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), PlaYUVerFrame::GRAY );
if( ( m_cStereoBM.state->SADWindowSize % 2 ) == 0 )
{
m_cStereoBM.state->SADWindowSize++;
}
m_cStereoBM.state->SADWindowSize = m_uiBlockSize;
m_cStereoBM.state->numberOfDisparities = ( ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16 );
#else
m_cStereoBM = cv::StereoBM::create( 16, m_uiBlockSize );
m_cStereoBM->setPreFilterCap( 31 );
m_cStereoBM->setBlockSize( m_uiBlockSize );
m_cStereoBM->setMinDisparity( 0 );
m_cStereoBM->setNumDisparities( ( ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16 ) );
m_cStereoBM->setTextureThreshold( 10 );
m_cStereoBM->setUniquenessRatio( 15 );
m_cStereoBM->setSpeckleWindowSize( 100 );
m_cStereoBM->setSpeckleRange( 32 );
m_cStereoBM->setDisp12MaxDiff( 1 );
#endif
return true;
}
PlaYUVerFrame* DisparityStereoBM::process( std::vector<PlaYUVerFrame*> apcFrameList )
@@ -76,7 +90,12 @@ PlaYUVerFrame* DisparityStereoBM::process( std::vector<PlaYUVerFrame*> apcFrameL
cv::Mat* rightImage = InputRight->getCvMat( true );
cv::Mat disparityImage, disparityImage8;
#if( CV_MAJOR_VERSION == 2)
m_cStereoBM( *leftImage, *rightImage, disparityImage );
#else
m_cStereoBM->compute( *leftImage, *rightImage, disparityImage );
#endif
disparityImage.convertTo( disparityImage8, CV_8U );
m_pcDisparityFrame->fromCvMat( &disparityImage8 );