mirror of https://github.com/opencv/opencv.git
Vadim Pisarevsky
12 years ago
parent
891d7da6ee
commit
b6efe30527
4 changed files with 639 additions and 375 deletions
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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, Intel Corporation, 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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#include "precomp.hpp" |
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CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities ) |
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{ |
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CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) ); |
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if( !state ) |
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return 0; |
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state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
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state->preFilterSize = 9; |
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state->preFilterCap = 31; |
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state->SADWindowSize = 15; |
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state->minDisparity = 0; |
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state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64; |
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state->textureThreshold = 10; |
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state->uniquenessRatio = 15; |
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state->speckleRange = state->speckleWindowSize = 0; |
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state->trySmallerWindows = 0; |
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state->roi1 = state->roi2 = cvRect(0,0,0,0); |
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state->disp12MaxDiff = -1; |
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state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf = |
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state->disp = state->cost = 0; |
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return state; |
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} |
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void cvReleaseStereoBMState( CvStereoBMState** state ) |
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{ |
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if( !state ) |
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CV_Error( CV_StsNullPtr, "" ); |
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if( !*state ) |
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return; |
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cvReleaseMat( &(*state)->preFilteredImg0 ); |
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cvReleaseMat( &(*state)->preFilteredImg1 ); |
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cvReleaseMat( &(*state)->slidingSumBuf ); |
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cvReleaseMat( &(*state)->disp ); |
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cvReleaseMat( &(*state)->cost ); |
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cvFree( state ); |
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} |
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template<> void cv::Ptr<CvStereoBMState>::delete_obj() |
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{ cvReleaseStereoBMState(&obj); } |
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void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr, |
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CvArr* disparr, CvStereoBMState* state ) |
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{ |
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cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr); |
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const cv::Mat disp = cv::cvarrToMat(disparr); |
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CV_Assert( state != 0 ); |
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cv::Ptr<cv::StereoMatcher> sm = cv::createStereoBM(cv::STEREOBM_BASIC_PRESET, |
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state->numberOfDisparities, |
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state->SADWindowSize); |
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sm->set("preFilterType", state->preFilterType); |
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sm->set("preFilterSize", state->preFilterSize); |
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sm->set("preFilterCap", state->preFilterCap); |
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sm->set("SADWindowSize", state->SADWindowSize); |
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sm->set("numDisparities", state->numberOfDisparities > 0 ? state->numberOfDisparities : 64); |
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sm->set("textureThreshold", state->textureThreshold); |
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sm->set("uniquenessRatio", state->uniquenessRatio); |
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sm->set("speckleRange", state->speckleRange); |
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sm->set("speckleWindowSize", state->speckleWindowSize); |
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sm->set("disp12MaxDiff", state->disp12MaxDiff); |
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sm->compute(left, right, disp); |
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} |
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CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity, |
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int numberOfDisparities, int SADWindowSize ) |
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{ |
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return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity, |
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numberOfDisparities, SADWindowSize ); |
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} |
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void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity, |
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int numberOfDisparities, int disp12MaxDiff ) |
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{ |
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cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost); |
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cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff ); |
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} |
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namespace cv |
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{ |
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StereoBM::StereoBM() |
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{ init(STEREOBM_BASIC_PRESET); } |
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StereoBM::StereoBM(int _preset, int _ndisparities, int _SADWindowSize) |
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{ init(_preset, _ndisparities, _SADWindowSize); } |
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void StereoBM::init(int _preset, int _ndisparities, int _SADWindowSize) |
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{ |
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state = cvCreateStereoBMState(_preset, _ndisparities); |
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state->SADWindowSize = _SADWindowSize; |
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} |
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void StereoBM::operator()( InputArray _left, InputArray _right, |
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OutputArray _disparity, int disptype ) |
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{ |
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Mat left = _left.getMat(), right = _right.getMat(); |
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CV_Assert( disptype == CV_16S || disptype == CV_32F ); |
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_disparity.create(left.size(), disptype); |
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Mat disp = _disparity.getMat(); |
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CvMat left_c = left, right_c = right, disp_c = disp; |
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cvFindStereoCorrespondenceBM(&left_c, &right_c, &disp_c, state); |
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} |
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StereoSGBM::StereoSGBM() |
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{ |
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minDisparity = numberOfDisparities = 0; |
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SADWindowSize = 0; |
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P1 = P2 = 0; |
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disp12MaxDiff = 0; |
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preFilterCap = 0; |
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uniquenessRatio = 0; |
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speckleWindowSize = 0; |
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speckleRange = 0; |
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fullDP = false; |
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sm = createStereoSGBM(0, 0, 0); |
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} |
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StereoSGBM::StereoSGBM( int _minDisparity, int _numDisparities, int _SADWindowSize, |
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int _P1, int _P2, int _disp12MaxDiff, int _preFilterCap, |
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int _uniquenessRatio, int _speckleWindowSize, int _speckleRange, |
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bool _fullDP ) |
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{ |
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minDisparity = _minDisparity; |
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numberOfDisparities = _numDisparities; |
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SADWindowSize = _SADWindowSize; |
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P1 = _P1; |
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P2 = _P2; |
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disp12MaxDiff = _disp12MaxDiff; |
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preFilterCap = _preFilterCap; |
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uniquenessRatio = _uniquenessRatio; |
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speckleWindowSize = _speckleWindowSize; |
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speckleRange = _speckleRange; |
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fullDP = _fullDP; |
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sm = createStereoSGBM(0, 0, 0); |
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} |
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StereoSGBM::~StereoSGBM() |
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{ |
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} |
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void StereoSGBM::operator ()( InputArray _left, InputArray _right, |
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OutputArray _disp ) |
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{ |
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sm->set("minDisparity", minDisparity); |
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sm->set("numDisparities", numberOfDisparities); |
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sm->set("SADWindowSize", SADWindowSize); |
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sm->set("P1", P1); |
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sm->set("P2", P2); |
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sm->set("disp12MaxDiff", disp12MaxDiff); |
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sm->set("preFilterCap", preFilterCap); |
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sm->set("uniquenessRatio", uniquenessRatio); |
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sm->set("speckleWindowSize", speckleWindowSize); |
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sm->set("speckleRange", speckleRange); |
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sm->set("fullDP", fullDP); |
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sm->compute(_left, _right, _disp); |
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} |
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} |
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