Add DisparityStereoBM module

2015-04-07 02:40:26 +01:00
parent 76a216bd3a
commit ddea2888e3
4 changed files with 154 additions and 0 deletions
@@ -0,0 +1,94 @@
+/*    This file is a part of plaYUVer project
+ *    Copyright (C) 2014-2015  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     DisparityStereoBM.cpp
+ * \brief    Measure the disparity between two images using the Stereo Var method (OpenCV)
+ */
+
+#include <cstdio>
+
+#include "DisparityStereoBM.h"
+
+namespace plaYUVer
+{
+
+DisparityStereoBM::DisparityStereoBM()
+{
+  /* Module Definition */
+  m_iModuleAPI = MODULE_API_2;
+  m_iModuleType = FRAME_PROCESSING_MODULE;
+  m_pchModuleCategory = "Disparity";
+  m_pchModuleName = "BlockMatching";
+  m_pchModuleTooltip = "Measure the disparity between two images using the Stereo BM method (OpenCV)";
+  m_uiNumberOfFrames = MODULE_REQUIRES_TWO_FRAMES;
+  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]" );
+
+  m_pcDisparityFrame = NULL;
+
+  m_cStereoBM.state->preFilterCap = 31;
+  m_cStereoBM.state->SADWindowSize = 9;
+  m_cStereoBM.state->minDisparity = 0;
+  m_cStereoBM.state->textureThreshold = 10;
+  m_cStereoBM.state->uniquenessRatio = 15;
+  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->numberOfDisparities = ( ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16 );
+  return true;
+}
+PlaYUVerFrame* DisparityStereoBM::process( std::vector<PlaYUVerFrame*> apcFrameList )
+{
+  PlaYUVerFrame* InputLeft = apcFrameList[0];
+  PlaYUVerFrame* InputRight = apcFrameList[1];
+
+  cv::Mat* leftImage = InputLeft->getCvMat( true );
+  cv::Mat* rightImage = InputRight->getCvMat( true );
+  cv::Mat disparityImage, disparityImage8;
+
+  m_cStereoBM( *leftImage, *rightImage, disparityImage );
+  disparityImage.convertTo( disparityImage8, CV_8U );
+
+  m_pcDisparityFrame->fromCvMat( &disparityImage8 );
+  return m_pcDisparityFrame;
+}
+
+Void DisparityStereoBM::destroy()
+{
+  if( m_pcDisparityFrame )
+    delete m_pcDisparityFrame;
+  m_pcDisparityFrame = NULL;
+}
+
+}  // NAMESPACE
+