113 lines
3.9 KiB
C++
113 lines
3.9 KiB
C++
/* This file is a part of Calyp project
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* Copyright (C) 2014-2021 by Joao Carreira (jfmcarreira@gmail.com)
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* Luis Lucas (luisfrlucas@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
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* method (OpenCV)
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*/
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#include "DisparityStereoBM.h"
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DisparityStereoBM::DisparityStereoBM()
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{
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/* Module Definition */
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m_iModuleAPI = CLP_MODULE_API_2;
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m_iModuleType = ClpModuleType::FrameProcessing;
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m_pchModuleCategory = "Stereo";
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m_pchModuleName = "Disparity-BM";
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m_pchModuleLongName = "Block macth based disparity";
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m_pchModuleTooltip = "Measure the disparity between two images using the "
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"Stereo BM method (OpenCV)";
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m_uiNumberOfFrames = 2;
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m_uiModuleRequirements = ClpModuleFeature::SkipWhilePlaying | ClpModuleFeature::NewWindow | ClpModuleFeature::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<CalypFrame*> apcFrameList )
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{
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_BASIC_MODULE_API_2_CHECK_
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m_pcDisparityFrame =
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new CalypFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), CLP_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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CalypFrame* DisparityStereoBM::process( std::vector<CalypFrame*> apcFrameList )
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{
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CalypFrame* InputLeft = apcFrameList[0];
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CalypFrame* InputRight = apcFrameList[1];
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cv::Mat leftImage, rightImage;
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if( !InputLeft->toMat( leftImage, true ) || !InputRight->toMat( rightImage, true ) )
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{
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return m_pcDisparityFrame;
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}
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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->fromMat( 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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