78 lines
2.7 KiB
C++
78 lines
2.7 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 DisparityStereoSGBM.h
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* \brief Measure the disparity between two images using the SGBM method
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* (OpenCV)
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* The class implements the modified H. Hirschmuller algorithm
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* that differs from the original one as follows:
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* - By default, the algorithm is single-pass, which means that you consider
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* only 5 directions
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* instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the
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* full variant of the
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* algorithm but beware that it may consume a lot of memory.
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* - The algorithm matches blocks, not individual pixels. Though, setting
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* blockSize=1 reduces the
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* blocks to single pixels.
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* - Mutual information cost function is not implemented. Instead, a simpler
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* Birchfield-Tomasi
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* sub-pixel metric from @cite BT98 is used. Though, the color images are
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* supported as well.
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* - Some pre- and post- processing steps from K. Konolige algorithm StereoBM
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* are included, for
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* example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering
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* (uniqueness
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* check, quadratic interpolation and speckle filtering).
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*/
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#ifndef __DISPARITYSTEREOSGBM_H__
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#define __DISPARITYSTEREOSGBM_H__
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// OpenCV
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#include <opencv2/opencv.hpp>
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// CalypLib
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#include "lib/CalypModuleIf.h"
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class DisparityStereoSGBM : public CalypModuleIf
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{
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REGISTER_CLASS_FACTORY( DisparityStereoSGBM )
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private:
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CalypFrame* m_pcDisparityFrame;
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bool m_bUseHH;
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int m_uiNumberOfDisparities;
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unsigned int m_uiBlockSize;
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#if( CV_MAJOR_VERSION >= 3 )
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cv::Ptr<cv::StereoSGBM> m_cStereoMatch;
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#else
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cv::StereoSGBM m_cStereoMatch;
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#endif
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public:
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DisparityStereoSGBM();
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virtual ~DisparityStereoSGBM() {}
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bool create( std::vector<CalypFrame*> apcFrameList );
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CalypFrame* process( std::vector<CalypFrame*> apcFrameList );
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void destroy();
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};
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#endif // __DISPARITYSTEREOSGBM_H__
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