mirror of https://github.com/opencv/opencv.git
mostly removed obsolete C API from calib3d (at least at the interface level) (#13081)
Vadim Pisarevsky
6 years ago
committed by
GitHub
parent
8cdf7bb84b
commit
8f15a609af
28 changed files with 1222 additions and 2454 deletions
@ -1,47 +0,0 @@ |
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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// This file contains wrappers for legacy OpenCV C API
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#include "precomp.hpp" |
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#include "opencv2/calib3d/calib3d_c.h" |
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using namespace cv; |
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CV_IMPL void |
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cvDrawChessboardCorners(CvArr* _image, CvSize pattern_size, |
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CvPoint2D32f* corners, int count, int found) |
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{ |
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CV_Assert(corners != NULL); //CV_CheckNULL(corners, "NULL is not allowed for 'corners' parameter");
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Mat image = cvarrToMat(_image); |
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CV_StaticAssert(sizeof(CvPoint2D32f) == sizeof(Point2f), ""); |
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drawChessboardCorners(image, pattern_size, Mat(1, count, traits::Type<Point2f>::value, corners), found != 0); |
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} |
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CV_IMPL int |
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cvFindChessboardCorners(const void* arr, CvSize pattern_size, |
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CvPoint2D32f* out_corners_, int* out_corner_count, |
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int flags) |
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{ |
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if (!out_corners_) |
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CV_Error( CV_StsNullPtr, "Null pointer to corners" ); |
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Mat image = cvarrToMat(arr); |
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std::vector<Point2f> out_corners; |
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if (out_corner_count) |
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*out_corner_count = 0; |
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bool res = cv::findChessboardCorners(image, pattern_size, out_corners, flags); |
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int corner_count = (int)out_corners.size(); |
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if (out_corner_count) |
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*out_corner_count = corner_count; |
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CV_CheckLE(corner_count, Size(pattern_size).area(), "Unexpected number of corners"); |
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for (int i = 0; i < corner_count; ++i) |
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{ |
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out_corners_[i] = cvPoint2D32f(out_corners[i]); |
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} |
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return res ? 1 : 0; |
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} |
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@ -0,0 +1,425 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef OPENCV_CALIB3D_C_API_H |
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#define OPENCV_CALIB3D_C_API_H |
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#include "opencv2/core/core_c.h" |
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#include "opencv2/calib3d/calib3d_c.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/** @addtogroup calib3d_c
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@{ |
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*/ |
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/****************************************************************************************\
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* Camera Calibration, Pose Estimation and Stereo * |
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\****************************************************************************************/ |
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typedef struct CvPOSITObject CvPOSITObject; |
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/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */ |
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CvPOSITObject* cvCreatePOSITObject( CvPoint3D32f* points, int point_count ); |
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/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
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an object given its model and projection in a weak-perspective case */ |
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void cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points, |
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double focal_length, CvTermCriteria criteria, |
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float* rotation_matrix, float* translation_vector); |
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/* Releases CvPOSITObject structure */ |
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void cvReleasePOSITObject( CvPOSITObject** posit_object ); |
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/* updates the number of RANSAC iterations */ |
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int cvRANSACUpdateNumIters( double p, double err_prob, |
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int model_points, int max_iters ); |
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void cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst ); |
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/* Calculates fundamental matrix given a set of corresponding points */ |
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/*#define CV_FM_7POINT 1
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#define CV_FM_8POINT 2 |
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#define CV_LMEDS 4 |
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#define CV_RANSAC 8 |
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#define CV_FM_LMEDS_ONLY CV_LMEDS |
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#define CV_FM_RANSAC_ONLY CV_RANSAC |
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#define CV_FM_LMEDS CV_LMEDS |
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#define CV_FM_RANSAC CV_RANSAC*/ |
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int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2, |
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CvMat* fundamental_matrix, |
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int method CV_DEFAULT(CV_FM_RANSAC), |
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double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99), |
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CvMat* status CV_DEFAULT(NULL) ); |
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/* For each input point on one of images
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computes parameters of the corresponding |
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epipolar line on the other image */ |
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void cvComputeCorrespondEpilines( const CvMat* points, |
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int which_image, |
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const CvMat* fundamental_matrix, |
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CvMat* correspondent_lines ); |
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/* Triangulation functions */ |
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void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, |
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CvMat* projPoints1, CvMat* projPoints2, |
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CvMat* points4D); |
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void cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2, |
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CvMat* new_points1, CvMat* new_points2); |
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/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
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alpha=0 - only valid pixels will be retained in the undistorted image |
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alpha=1 - all the source image pixels will be retained in the undistorted image |
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*/ |
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void cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix, |
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const CvMat* dist_coeffs, |
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CvSize image_size, double alpha, |
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CvMat* new_camera_matrix, |
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CvSize new_imag_size CV_DEFAULT(cvSize(0,0)), |
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CvRect* valid_pixel_ROI CV_DEFAULT(0), |
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int center_principal_point CV_DEFAULT(0)); |
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/* Converts rotation vector to rotation matrix or vice versa */ |
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int cvRodrigues2( const CvMat* src, CvMat* dst, |
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CvMat* jacobian CV_DEFAULT(0) ); |
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/* Finds perspective transformation between the object plane and image (view) plane */ |
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int cvFindHomography( const CvMat* src_points, |
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const CvMat* dst_points, |
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CvMat* homography, |
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int method CV_DEFAULT(0), |
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double ransacReprojThreshold CV_DEFAULT(3), |
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CvMat* mask CV_DEFAULT(0), |
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int maxIters CV_DEFAULT(2000), |
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double confidence CV_DEFAULT(0.995)); |
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/* Computes RQ decomposition for 3x3 matrices */ |
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void cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ, |
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CvMat *matrixQx CV_DEFAULT(NULL), |
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CvMat *matrixQy CV_DEFAULT(NULL), |
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CvMat *matrixQz CV_DEFAULT(NULL), |
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CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); |
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/* Computes projection matrix decomposition */ |
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void cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr, |
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CvMat *rotMatr, CvMat *posVect, |
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CvMat *rotMatrX CV_DEFAULT(NULL), |
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CvMat *rotMatrY CV_DEFAULT(NULL), |
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CvMat *rotMatrZ CV_DEFAULT(NULL), |
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CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); |
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/* Computes d(AB)/dA and d(AB)/dB */ |
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void cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB ); |
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/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
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t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */ |
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void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1, |
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const CvMat* _rvec2, const CvMat* _tvec2, |
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CvMat* _rvec3, CvMat* _tvec3, |
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CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0), |
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CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0), |
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CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0), |
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CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) ); |
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/* Projects object points to the view plane using
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the specified extrinsic and intrinsic camera parameters */ |
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void cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector, |
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const CvMat* translation_vector, const CvMat* camera_matrix, |
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const CvMat* distortion_coeffs, CvMat* image_points, |
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CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL), |
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CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL), |
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CvMat* dpddist CV_DEFAULT(NULL), |
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double aspect_ratio CV_DEFAULT(0)); |
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/* Finds extrinsic camera parameters from
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a few known corresponding point pairs and intrinsic parameters */ |
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void cvFindExtrinsicCameraParams2( const CvMat* object_points, |
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const CvMat* image_points, |
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const CvMat* camera_matrix, |
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const CvMat* distortion_coeffs, |
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CvMat* rotation_vector, |
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CvMat* translation_vector, |
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int use_extrinsic_guess CV_DEFAULT(0) ); |
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/* Computes initial estimate of the intrinsic camera parameters
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in case of planar calibration target (e.g. chessboard) */ |
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void cvInitIntrinsicParams2D( const CvMat* object_points, |
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const CvMat* image_points, |
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const CvMat* npoints, CvSize image_size, |
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CvMat* camera_matrix, |
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double aspect_ratio CV_DEFAULT(1.) ); |
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// Performs a fast check if a chessboard is in the input image. This is a workaround to
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// a problem of cvFindChessboardCorners being slow on images with no chessboard
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// - src: input image
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// - size: chessboard size
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// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
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// 0 if there is no chessboard, -1 in case of error
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int cvCheckChessboard(IplImage* src, CvSize size); |
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/* Detects corners on a chessboard calibration pattern */ |
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/*int cvFindChessboardCorners( const void* image, CvSize pattern_size,
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CvPoint2D32f* corners, |
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int* corner_count CV_DEFAULT(NULL), |
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int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );*/ |
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/* Draws individual chessboard corners or the whole chessboard detected */ |
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/*void cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
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CvPoint2D32f* corners, |
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int count, int pattern_was_found );*/ |
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/*#define CV_CALIB_USE_INTRINSIC_GUESS 1
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#define CV_CALIB_FIX_ASPECT_RATIO 2 |
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#define CV_CALIB_FIX_PRINCIPAL_POINT 4 |
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#define CV_CALIB_ZERO_TANGENT_DIST 8 |
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#define CV_CALIB_FIX_FOCAL_LENGTH 16 |
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#define CV_CALIB_FIX_K1 32 |
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#define CV_CALIB_FIX_K2 64 |
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#define CV_CALIB_FIX_K3 128 |
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#define CV_CALIB_FIX_K4 2048 |
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#define CV_CALIB_FIX_K5 4096 |
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#define CV_CALIB_FIX_K6 8192 |
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#define CV_CALIB_RATIONAL_MODEL 16384 |
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#define CV_CALIB_THIN_PRISM_MODEL 32768 |
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#define CV_CALIB_FIX_S1_S2_S3_S4 65536 |
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#define CV_CALIB_TILTED_MODEL 262144 |
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#define CV_CALIB_FIX_TAUX_TAUY 524288 |
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#define CV_CALIB_FIX_TANGENT_DIST 2097152 |
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#define CV_CALIB_NINTRINSIC 18*/ |
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/* Finds intrinsic and extrinsic camera parameters
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from a few views of known calibration pattern */ |
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double cvCalibrateCamera2( const CvMat* object_points, |
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const CvMat* image_points, |
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const CvMat* point_counts, |
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CvSize image_size, |
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CvMat* camera_matrix, |
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CvMat* distortion_coeffs, |
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CvMat* rotation_vectors CV_DEFAULT(NULL), |
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CvMat* translation_vectors CV_DEFAULT(NULL), |
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int flags CV_DEFAULT(0), |
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) ); |
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/* Finds intrinsic and extrinsic camera parameters
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from a few views of known calibration pattern */ |
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double cvCalibrateCamera4( const CvMat* object_points, |
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const CvMat* image_points, |
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const CvMat* point_counts, |
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CvSize image_size, |
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int iFixedPoint, |
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CvMat* camera_matrix, |
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CvMat* distortion_coeffs, |
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CvMat* rotation_vectors CV_DEFAULT(NULL), |
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CvMat* translation_vectors CV_DEFAULT(NULL), |
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CvMat* newObjPoints CV_DEFAULT(NULL), |
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int flags CV_DEFAULT(0), |
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) ); |
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/* Computes various useful characteristics of the camera from the data computed by
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cvCalibrateCamera2 */ |
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void cvCalibrationMatrixValues( const CvMat *camera_matrix, |
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CvSize image_size, |
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double aperture_width CV_DEFAULT(0), |
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double aperture_height CV_DEFAULT(0), |
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double *fovx CV_DEFAULT(NULL), |
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double *fovy CV_DEFAULT(NULL), |
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double *focal_length CV_DEFAULT(NULL), |
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CvPoint2D64f *principal_point CV_DEFAULT(NULL), |
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double *pixel_aspect_ratio CV_DEFAULT(NULL)); |
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/*#define CV_CALIB_FIX_INTRINSIC 256
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#define CV_CALIB_SAME_FOCAL_LENGTH 512*/ |
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/* Computes the transformation from one camera coordinate system to another one
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from a few correspondent views of the same calibration target. Optionally, calibrates |
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both cameras */ |
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double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, |
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const CvMat* image_points2, const CvMat* npoints, |
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CvMat* camera_matrix1, CvMat* dist_coeffs1, |
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CvMat* camera_matrix2, CvMat* dist_coeffs2, |
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CvSize image_size, CvMat* R, CvMat* T, |
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CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0), |
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int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC), |
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) ); |
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#define CV_CALIB_ZERO_DISPARITY 1024 |
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/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
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views parallel (=> to make all the epipolar lines horizontal or vertical) */ |
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void cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2, |
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const CvMat* dist_coeffs1, const CvMat* dist_coeffs2, |
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CvSize image_size, const CvMat* R, const CvMat* T, |
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CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2, |
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CvMat* Q CV_DEFAULT(0), |
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int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY), |
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double alpha CV_DEFAULT(-1), |
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CvSize new_image_size CV_DEFAULT(cvSize(0,0)), |
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CvRect* valid_pix_ROI1 CV_DEFAULT(0), |
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CvRect* valid_pix_ROI2 CV_DEFAULT(0)); |
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/* Computes rectification transformations for uncalibrated pair of images using a set
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of point correspondences */ |
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int cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2, |
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const CvMat* F, CvSize img_size, |
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CvMat* H1, CvMat* H2, |
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double threshold CV_DEFAULT(5)); |
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/* stereo correspondence parameters and functions */ |
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#define CV_STEREO_BM_NORMALIZED_RESPONSE 0 |
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#define CV_STEREO_BM_XSOBEL 1 |
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/* Block matching algorithm structure */ |
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typedef struct CvStereoBMState |
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{ |
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// pre-filtering (normalization of input images)
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int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
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int preFilterSize; // averaging window size: ~5x5..21x21
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int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
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// correspondence using Sum of Absolute Difference (SAD)
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int SADWindowSize; // ~5x5..21x21
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int minDisparity; // minimum disparity (can be negative)
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int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
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// post-filtering
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int textureThreshold; // the disparity is only computed for pixels
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// with textured enough neighborhood
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int uniquenessRatio; // accept the computed disparity d* only if
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// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
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// for any d != d*+/-1 within the search range.
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int speckleWindowSize; // disparity variation window
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int speckleRange; // acceptable range of variation in window
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int trySmallerWindows; // if 1, the results may be more accurate,
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// at the expense of slower processing
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CvRect roi1, roi2; |
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int disp12MaxDiff; |
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// temporary buffers
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CvMat* preFilteredImg0; |
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CvMat* preFilteredImg1; |
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CvMat* slidingSumBuf; |
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CvMat* cost; |
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CvMat* disp; |
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} CvStereoBMState; |
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#define CV_STEREO_BM_BASIC 0 |
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#define CV_STEREO_BM_FISH_EYE 1 |
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#define CV_STEREO_BM_NARROW 2 |
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CvStereoBMState* cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC), |
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int numberOfDisparities CV_DEFAULT(0)); |
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void cvReleaseStereoBMState( CvStereoBMState** state ); |
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void cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right, |
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CvArr* disparity, CvStereoBMState* state ); |
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CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity, |
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int numberOfDisparities, int SADWindowSize ); |
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void cvValidateDisparity( CvArr* disparity, const CvArr* cost, |
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int minDisparity, int numberOfDisparities, |
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int disp12MaxDiff CV_DEFAULT(1) ); |
||||
|
||||
/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */ |
||||
void cvReprojectImageTo3D( const CvArr* disparityImage, |
||||
CvArr* _3dImage, const CvMat* Q, |
||||
int handleMissingValues CV_DEFAULT(0) ); |
||||
|
||||
/** @brief Transforms the input image to compensate lens distortion
|
||||
@see cv::undistort |
||||
*/ |
||||
void cvUndistort2( const CvArr* src, CvArr* dst, |
||||
const CvMat* camera_matrix, |
||||
const CvMat* distortion_coeffs, |
||||
const CvMat* new_camera_matrix CV_DEFAULT(0) ); |
||||
|
||||
/** @brief Computes transformation map from intrinsic camera parameters
|
||||
that can used by cvRemap |
||||
*/ |
||||
void cvInitUndistortMap( const CvMat* camera_matrix, |
||||
const CvMat* distortion_coeffs, |
||||
CvArr* mapx, CvArr* mapy ); |
||||
|
||||
/** @brief Computes undistortion+rectification map for a head of stereo camera
|
||||
@see cv::initUndistortRectifyMap |
||||
*/ |
||||
void cvInitUndistortRectifyMap( const CvMat* camera_matrix, |
||||
const CvMat* dist_coeffs, |
||||
const CvMat *R, const CvMat* new_camera_matrix, |
||||
CvArr* mapx, CvArr* mapy ); |
||||
|
||||
/** @brief Computes the original (undistorted) feature coordinates
|
||||
from the observed (distorted) coordinates |
||||
@see cv::undistortPoints |
||||
*/ |
||||
void cvUndistortPoints( const CvMat* src, CvMat* dst, |
||||
const CvMat* camera_matrix, |
||||
const CvMat* dist_coeffs, |
||||
const CvMat* R CV_DEFAULT(0), |
||||
const CvMat* P CV_DEFAULT(0)); |
||||
|
||||
/** @} calib3d_c */ |
||||
|
||||
#ifdef __cplusplus |
||||
} // extern "C"
|
||||
#endif |
||||
|
||||
#endif /* OPENCV_CALIB3D_C_API_H */ |
||||
@ -1,123 +0,0 @@ |
||||
//M*//////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "precomp.hpp" |
||||
#include "opencv2/calib3d/calib3d_c.h" |
||||
|
||||
CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities ) |
||||
{ |
||||
CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) ); |
||||
if( !state ) |
||||
return 0; |
||||
|
||||
state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
|
||||
state->preFilterSize = 9; |
||||
state->preFilterCap = 31; |
||||
state->SADWindowSize = 15; |
||||
state->minDisparity = 0; |
||||
state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64; |
||||
state->textureThreshold = 10; |
||||
state->uniquenessRatio = 15; |
||||
state->speckleRange = state->speckleWindowSize = 0; |
||||
state->trySmallerWindows = 0; |
||||
state->roi1 = state->roi2 = cvRect(0,0,0,0); |
||||
state->disp12MaxDiff = -1; |
||||
|
||||
state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf = |
||||
state->disp = state->cost = 0; |
||||
|
||||
return state; |
||||
} |
||||
|
||||
void cvReleaseStereoBMState( CvStereoBMState** state ) |
||||
{ |
||||
if( !state ) |
||||
CV_Error( CV_StsNullPtr, "" ); |
||||
|
||||
if( !*state ) |
||||
return; |
||||
|
||||
cvReleaseMat( &(*state)->preFilteredImg0 ); |
||||
cvReleaseMat( &(*state)->preFilteredImg1 ); |
||||
cvReleaseMat( &(*state)->slidingSumBuf ); |
||||
cvReleaseMat( &(*state)->disp ); |
||||
cvReleaseMat( &(*state)->cost ); |
||||
cvFree( state ); |
||||
} |
||||
|
||||
void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr, |
||||
CvArr* disparr, CvStereoBMState* state ) |
||||
{ |
||||
cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr); |
||||
const cv::Mat disp = cv::cvarrToMat(disparr); |
||||
|
||||
CV_Assert( state != 0 ); |
||||
|
||||
cv::Ptr<cv::StereoBM> sm = cv::StereoBM::create(state->numberOfDisparities, |
||||
state->SADWindowSize); |
||||
sm->setPreFilterType(state->preFilterType); |
||||
sm->setPreFilterSize(state->preFilterSize); |
||||
sm->setPreFilterCap(state->preFilterCap); |
||||
sm->setBlockSize(state->SADWindowSize); |
||||
sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64); |
||||
sm->setTextureThreshold(state->textureThreshold); |
||||
sm->setUniquenessRatio(state->uniquenessRatio); |
||||
sm->setSpeckleRange(state->speckleRange); |
||||
sm->setSpeckleWindowSize(state->speckleWindowSize); |
||||
sm->setDisp12MaxDiff(state->disp12MaxDiff); |
||||
|
||||
sm->compute(left, right, disp); |
||||
} |
||||
|
||||
CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity, |
||||
int numberOfDisparities, int SADWindowSize ) |
||||
{ |
||||
return cvRect(cv::getValidDisparityROI( roi1, roi2, minDisparity, |
||||
numberOfDisparities, SADWindowSize)); |
||||
} |
||||
|
||||
void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity, |
||||
int numberOfDisparities, int disp12MaxDiff ) |
||||
{ |
||||
cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost); |
||||
cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff ); |
||||
} |
||||
File diff suppressed because it is too large
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Reference in new issue