115 lines
3.8 KiB
C++
115 lines
3.8 KiB
C++
/* This file is a part of plaYUVer project
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* Copyright (C) 2014-2015 by Luis Lucas (luisfrlucas@gmail.com)
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* Joao Carreira (jfmcarreira@gmail.com)
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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/**
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* \file DisparityStereoBM.cpp
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* \brief Measure the disparity between two images using the Stereo Var method (OpenCV)
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*/
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#include <cstdio>
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#include "DisparityStereoBM.h"
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namespace plaYUVer
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{
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DisparityStereoBM::DisparityStereoBM()
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{
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/* Module Definition */
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m_iModuleAPI = MODULE_API_2;
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m_iModuleType = FRAME_PROCESSING_MODULE;
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m_pchModuleCategory = "Stereo";
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m_pchModuleName = "Disparity-BM";
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m_pchModuleTooltip = "Measure the disparity between two images using the Stereo BM method (OpenCV)";
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m_uiNumberOfFrames = MODULE_REQUIRES_TWO_FRAMES;
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m_uiModuleRequirements = MODULE_REQUIRES_SKIP_WHILE_PLAY | MODULE_REQUIRES_NEW_WINDOW | MODULE_REQUIRES_OPTIONS;
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m_cModuleOptions.addOptions()/**/
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( "block_size", m_uiBlockSize, "Block Size (positive odd number) [9]" );
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m_pcDisparityFrame = NULL;
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m_uiBlockSize = 9;
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}
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Bool DisparityStereoBM::create( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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_BASIC_MODULE_API_2_CHECK_
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m_pcDisparityFrame = new PlaYUVerFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), PlaYUVerFrame::GRAY );
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if( ( m_uiBlockSize % 2 ) == 0 )
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{
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m_uiBlockSize++;
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}
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m_uiNumberOfDisparities = ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16;
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#if( CV_MAJOR_VERSION == 2)
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m_cStereoBM.state->preFilterCap = 31;
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m_cStereoBM.state->SADWindowSize = 9;
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m_cStereoBM.state->minDisparity = 0;
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m_cStereoBM.state->textureThreshold = 10;
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m_cStereoBM.state->uniquenessRatio = 15;
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m_cStereoBM.state->speckleWindowSize = 100;
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m_cStereoBM.state->speckleRange = 32;
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m_cStereoBM.state->disp12MaxDiff = 1;
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m_cStereoBM.state->SADWindowSize = m_uiBlockSize;
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m_cStereoBM.state->numberOfDisparities = m_uiNumberOfDisparities;
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#else
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m_cStereoBM = cv::StereoBM::create( 16, m_uiBlockSize );
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m_cStereoBM->setPreFilterCap( 31 );
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m_cStereoBM->setBlockSize( m_uiBlockSize );
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m_cStereoBM->setMinDisparity( 0 );
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m_cStereoBM->setNumDisparities( m_uiNumberOfDisparities );
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m_cStereoBM->setTextureThreshold( 10 );
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m_cStereoBM->setUniquenessRatio( 15 );
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m_cStereoBM->setSpeckleWindowSize( 100 );
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m_cStereoBM->setSpeckleRange( 32 );
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m_cStereoBM->setDisp12MaxDiff( 1 );
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#endif
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return true;
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}
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PlaYUVerFrame* DisparityStereoBM::process( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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PlaYUVerFrame* InputLeft = apcFrameList[0];
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PlaYUVerFrame* InputRight = apcFrameList[1];
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cv::Mat* leftImage = InputLeft->getCvMat( true );
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cv::Mat* rightImage = InputRight->getCvMat( true );
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cv::Mat disparityImage, disparityImage8;
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#if( CV_MAJOR_VERSION == 2)
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m_cStereoBM( *leftImage, *rightImage, disparityImage );
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#else
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m_cStereoBM->compute( *leftImage, *rightImage, disparityImage );
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#endif
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disparityImage.convertTo( disparityImage8, CV_8U );
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m_pcDisparityFrame->fromCvMat( &disparityImage8 );
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return m_pcDisparityFrame;
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}
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Void DisparityStereoBM::destroy()
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{
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if( m_pcDisparityFrame )
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delete m_pcDisparityFrame;
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m_pcDisparityFrame = NULL;
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}
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} // NAMESPACE
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