118 lines
4.4 KiB
C++
118 lines
4.4 KiB
C++
/* This file is a part of PlaYUVer project
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* Copyright (C) 2014-2018 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.cpp
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* \brief Measure the disparity between two images using the SGBM method
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* (OpenCV)
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*/
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#include "DisparityStereoSGBM.h"
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DisparityStereoSGBM::DisparityStereoSGBM()
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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-SGBM";
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m_pchModuleName = "SGBM based disparity";
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m_pchModuleTooltip = "Measure the disparity between two images using the "
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"Stereo SGBM 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) [3]" )( "HHAlgorithm", m_bUseHH,
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"Use HH algorithm [false]" );
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m_pcDisparityFrame = NULL;
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m_uiBlockSize = 3;
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m_uiNumberOfDisparities = 0;
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}
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Bool DisparityStereoSGBM::create( std::vector<PlaYUVerFrame*> 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 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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Int cn = apcFrameList[0]->getNumberChannels();
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#if( CV_MAJOR_VERSION == 3 )
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m_cStereoMatch = cv::StereoSGBM::create( 0, 16, m_uiBlockSize );
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m_cStereoMatch->setPreFilterCap( 63 );
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m_cStereoMatch->setP1( 8 * cn * m_uiBlockSize * m_uiBlockSize );
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m_cStereoMatch->setP2( 32 * cn * m_uiBlockSize * m_uiBlockSize );
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m_cStereoMatch->setMinDisparity( 0 );
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m_cStereoMatch->setNumDisparities( m_uiNumberOfDisparities );
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m_cStereoMatch->setUniquenessRatio( 10 );
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m_cStereoMatch->setSpeckleWindowSize( 100 );
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m_cStereoMatch->setSpeckleRange( 32 );
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m_cStereoMatch->setDisp12MaxDiff( 1 );
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// m_cStereoMatch->setMode( alg == STEREO_HH ? StereoSGBM::MODE_HH :
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// StereoSGBM::MODE_SGBM );
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m_cStereoMatch->setMode( m_bUseHH ? cv::StereoSGBM::MODE_HH : cv::StereoSGBM::MODE_SGBM );
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#else
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m_cStereoMatch.preFilterCap = 63;
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m_cStereoMatch.SADWindowSize = m_uiBlockSize;
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m_cStereoMatch.P1 = 8 * cn * m_uiBlockSize * m_uiBlockSize;
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m_cStereoMatch.P2 = 32 * cn * m_uiBlockSize * m_uiBlockSize;
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m_cStereoMatch.minDisparity = 0;
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m_cStereoMatch.numberOfDisparities = m_uiNumberOfDisparities;
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m_cStereoMatch.uniquenessRatio = 10;
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m_cStereoMatch.speckleWindowSize = 100;
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m_cStereoMatch.speckleRange = 32;
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m_cStereoMatch.disp12MaxDiff = 1;
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m_cStereoMatch.fullDP = m_bUseHH ? 1 : 0;
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#endif
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return true;
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}
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PlaYUVerFrame* DisparityStereoSGBM::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, 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 == 3 )
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m_cStereoMatch->compute( leftImage, rightImage, disparityImage );
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#else
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m_cStereoMatch( 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 DisparityStereoSGBM::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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