jfmcarreira
430bdc09cd
Remove Qt4 support Change include headers Change the include of QCustomPlot lib and updated code based on upstream
115 lines
4.3 KiB
C++
115 lines
4.3 KiB
C++
/* This file is a part of plaYUVer project
|
|
* Copyright (C) 2014-2017 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 DisparityStereoSGBM.cpp
|
|
* \brief Measure the disparity between two images using the SGBM method
|
|
* (OpenCV)
|
|
*/
|
|
|
|
#include "DisparityStereoSGBM.h"
|
|
|
|
DisparityStereoSGBM::DisparityStereoSGBM()
|
|
{
|
|
/* Module Definition */
|
|
m_iModuleAPI = MODULE_API_2;
|
|
m_iModuleType = FRAME_PROCESSING_MODULE;
|
|
m_pchModuleCategory = "Stereo";
|
|
m_pchModuleName = "Disparity-SGBM";
|
|
m_pchModuleTooltip = "Measure the disparity between two images using the "
|
|
"Stereo SGBM 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_uiBlockSize, "Block Size (positive odd number) [3]" )( "HHAlgorithm", m_bUseHH, "Use HH algorithm [false]" );
|
|
|
|
m_pcDisparityFrame = NULL;
|
|
m_uiBlockSize = 3;
|
|
m_uiNumberOfDisparities = 0;
|
|
}
|
|
|
|
Bool DisparityStereoSGBM::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++;
|
|
}
|
|
m_uiNumberOfDisparities = ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16;
|
|
Int cn = apcFrameList[0]->getNumberChannels();
|
|
#if( CV_MAJOR_VERSION == 3 )
|
|
m_cStereoMatch = cv::StereoSGBM::create( 0, 16, m_uiBlockSize );
|
|
m_cStereoMatch->setPreFilterCap( 63 );
|
|
|
|
m_cStereoMatch->setP1( 8 * cn * m_uiBlockSize * m_uiBlockSize );
|
|
m_cStereoMatch->setP2( 32 * cn * m_uiBlockSize * m_uiBlockSize );
|
|
m_cStereoMatch->setMinDisparity( 0 );
|
|
m_cStereoMatch->setNumDisparities( m_uiNumberOfDisparities );
|
|
m_cStereoMatch->setUniquenessRatio( 10 );
|
|
m_cStereoMatch->setSpeckleWindowSize( 100 );
|
|
m_cStereoMatch->setSpeckleRange( 32 );
|
|
m_cStereoMatch->setDisp12MaxDiff( 1 );
|
|
// m_cStereoMatch->setMode( alg == STEREO_HH ? StereoSGBM::MODE_HH :
|
|
// StereoSGBM::MODE_SGBM );
|
|
m_cStereoMatch->setMode( m_bUseHH ? cv::StereoSGBM::MODE_HH : cv::StereoSGBM::MODE_SGBM );
|
|
#else
|
|
m_cStereoMatch.preFilterCap = 63;
|
|
m_cStereoMatch.SADWindowSize = m_uiBlockSize;
|
|
m_cStereoMatch.P1 = 8 * cn * m_uiBlockSize * m_uiBlockSize;
|
|
m_cStereoMatch.P2 = 32 * cn * m_uiBlockSize * m_uiBlockSize;
|
|
m_cStereoMatch.minDisparity = 0;
|
|
m_cStereoMatch.numberOfDisparities = m_uiNumberOfDisparities;
|
|
m_cStereoMatch.uniquenessRatio = 10;
|
|
m_cStereoMatch.speckleWindowSize = 100;
|
|
m_cStereoMatch.speckleRange = 32;
|
|
m_cStereoMatch.disp12MaxDiff = 1;
|
|
m_cStereoMatch.fullDP = m_bUseHH ? 1 : 0;
|
|
#endif
|
|
return true;
|
|
}
|
|
|
|
PlaYUVerFrame* DisparityStereoSGBM::process( std::vector<PlaYUVerFrame*> apcFrameList )
|
|
{
|
|
PlaYUVerFrame* InputLeft = apcFrameList[0];
|
|
PlaYUVerFrame* InputRight = apcFrameList[1];
|
|
cv::Mat leftImage, rightImage;
|
|
if( !InputLeft->toMat( leftImage, true ) || !InputRight->toMat( rightImage, true ) )
|
|
{
|
|
return m_pcDisparityFrame;
|
|
}
|
|
cv::Mat disparityImage, disparityImage8;
|
|
#if( CV_MAJOR_VERSION == 3 )
|
|
m_cStereoMatch->compute( leftImage, rightImage, disparityImage );
|
|
#else
|
|
m_cStereoMatch( leftImage, rightImage, disparityImage );
|
|
#endif
|
|
disparityImage.convertTo( disparityImage8, CV_8U );
|
|
m_pcDisparityFrame->fromMat( disparityImage8 );
|
|
return m_pcDisparityFrame;
|
|
}
|
|
|
|
Void DisparityStereoSGBM::destroy()
|
|
{
|
|
if( m_pcDisparityFrame )
|
|
delete m_pcDisparityFrame;
|
|
m_pcDisparityFrame = NULL;
|
|
}
|