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Added StereoSGBM (fixed #77) (#318)

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* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
This commit is contained in:
matlabbe
2018-10-04 16:10:16 -04:00
committed by GitHub
parent a1079761e7
commit 16309e6d18
13 changed files with 1231 additions and 413 deletions
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19
corelib/include/rtabmap/core/Parameters.h
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@@ -631,6 +631,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
@@ -640,6 +642,23 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
#if CV_MAJOR_VERSION < 3
RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
#else
RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
#endif
// Occupancy Grid
RTABMAP_PARAM(Grid, FromDepth, bool, true, "Create occupancy grid from depth image(s), otherwise it is created from laser scan.");

31
corelib/include/rtabmap/core/StereoDense.h
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@@ -36,6 +36,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
class RTABMAP_EXP StereoDense {
public:
enum Type {
kTypeBM = 0,
kTypeSGBM = 1
};
static StereoDense * create(const ParametersMap & parameters);
static StereoDense * create(StereoDense::Type type, const ParametersMap & parameters = ParametersMap());
public:
virtual ~StereoDense() {}
@@ -48,29 +56,6 @@ protected:
StereoDense(const ParametersMap & parameters = ParametersMap()) {}
};
class RTABMAP_EXP StereoBM : public StereoDense {
public:
StereoBM(int blockSize, int numDisparities);
StereoBM(const ParametersMap & parameters = ParametersMap());
virtual ~StereoBM() {}
virtual void parseParameters(const ParametersMap & parameters);
virtual cv::Mat computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const;
private:
int blockSize_; //15
int minDisparity_; //0
int numDisparities_; //64
int preFilterSize_; //9
int preFilterCap_; //31
int uniquenessRatio_; //15
int textureThreshold_; //10
int speckleWindowSize_; //100
int speckleRange_; //4
};
} /* namespace rtabmap */
#endif /* STEREODENSE_H_ */

65
corelib/include/rtabmap/core/stereo/StereoBM.h Normal file
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@@ -0,0 +1,65 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions 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.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may 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 COPYRIGHT HOLDER 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.
*/
#ifndef STEREOBM_H_
#define STEREOBM_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/StereoDense.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
namespace rtabmap {
class RTABMAP_EXP StereoBM : public StereoDense {
public:
StereoBM(int blockSize, int numDisparities);
StereoBM(const ParametersMap & parameters = ParametersMap());
virtual ~StereoBM() {}
virtual void parseParameters(const ParametersMap & parameters);
virtual cv::Mat computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const;
private:
int blockSize_; //15
int minDisparity_; //0
int numDisparities_; //64
int preFilterSize_; //9
int preFilterCap_; //31
int uniquenessRatio_; //15
int textureThreshold_; //10
int speckleWindowSize_; //100
int speckleRange_; //4
int disp12MaxDiff_; //-1
};
} /* namespace rtabmap */
#endif /* STEREOBM_H_ */

65
corelib/include/rtabmap/core/stereo/StereoSGBM.h Normal file
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@@ -0,0 +1,65 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions 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.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may 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 COPYRIGHT HOLDER 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.
*/
#ifndef STEREOSGBM_H_
#define STEREOSGBM_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/StereoDense.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
namespace rtabmap {
class RTABMAP_EXP StereoSGBM : public StereoDense {
public:
StereoSGBM(const ParametersMap & parameters = ParametersMap());
virtual ~StereoSGBM() {}
virtual void parseParameters(const ParametersMap & parameters);
virtual cv::Mat computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const;
private:
int blockSize_; //15
int minDisparity_; //0
int numDisparities_; //64
int preFilterCap_; //31
int uniquenessRatio_; //15
int speckleWindowSize_; //100
int speckleRange_; //4
int P1_; //0
int P2_; //0
int disp12MaxDiff_; //0
int mode_; //0=cv::StereoSGBM::MODE_SGBM;
};
} /* namespace rtabmap */
#endif /* STEREOSGBM_H_ */

2
corelib/src/CMakeLists.txt
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@@ -90,6 +90,8 @@ SET(SRC_FILES
Stereo.cpp
StereoDense.cpp
StereoCameraModel.cpp
stereo/StereoBM.cpp
stereo/StereoSGBM.cpp
OccupancyGrid.cpp

2
corelib/src/CameraThread.cpp
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@@ -60,7 +60,7 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_scanNormalsRadius(0.0f),
_stereoDense(new StereoBM(parameters)),
_stereoDense(StereoDense::create(parameters)),
_distortionModel(0),
_bilateralFiltering(false),
_bilateralSigmaS(10),

102
corelib/src/StereoDense.cpp
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@@ -25,99 +25,33 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/StereoDense.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
#include <rtabmap/core/stereo/StereoBM.h>
#include <rtabmap/core/stereo/StereoSGBM.h>
namespace rtabmap {
StereoBM::StereoBM(int blockSize, int numDisparities) :
blockSize_(blockSize),
minDisparity_(Parameters::defaultStereoBMMinDisparity()),
numDisparities_(numDisparities),
preFilterSize_(Parameters::defaultStereoBMPreFilterSize()),
preFilterCap_(Parameters::defaultStereoBMPreFilterCap()),
uniquenessRatio_(Parameters::defaultStereoBMUniquenessRatio()),
textureThreshold_(Parameters::defaultStereoBMTextureThreshold()),
speckleWindowSize_(Parameters::defaultStereoBMSpeckleWindowSize()),
speckleRange_(Parameters::defaultStereoBMSpeckleRange())
StereoDense * StereoDense::create(const ParametersMap & parameters)
{
}
StereoBM::StereoBM(const ParametersMap & parameters) :
StereoDense(parameters),
blockSize_(Parameters::defaultStereoBMBlockSize()),
minDisparity_(Parameters::defaultStereoBMMinDisparity()),
numDisparities_(Parameters::defaultStereoBMNumDisparities()),
preFilterSize_(Parameters::defaultStereoBMPreFilterSize()),
preFilterCap_(Parameters::defaultStereoBMPreFilterCap()),
uniquenessRatio_(Parameters::defaultStereoBMUniquenessRatio()),
textureThreshold_(Parameters::defaultStereoBMTextureThreshold()),
speckleWindowSize_(Parameters::defaultStereoBMSpeckleWindowSize()),
speckleRange_(Parameters::defaultStereoBMSpeckleRange())
{
this->parseParameters(parameters);
int stereoTypeInt = Parameters::defaultStereoDenseStrategy();
Parameters::parse(parameters, Parameters::kStereoDenseStrategy(), stereoTypeInt);
return create((StereoDense::Type)stereoTypeInt, parameters);
}
void StereoBM::parseParameters(const ParametersMap & parameters)
StereoDense * StereoDense::create(StereoDense::Type type, const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kStereoBMBlockSize(), blockSize_);
Parameters::parse(parameters, Parameters::kStereoBMMinDisparity(), minDisparity_);
Parameters::parse(parameters, Parameters::kStereoBMNumDisparities(), numDisparities_);
Parameters::parse(parameters, Parameters::kStereoBMPreFilterSize(), preFilterSize_);
Parameters::parse(parameters, Parameters::kStereoBMPreFilterCap(), preFilterCap_);
Parameters::parse(parameters, Parameters::kStereoBMUniquenessRatio(), uniquenessRatio_);
Parameters::parse(parameters, Parameters::kStereoBMTextureThreshold(), textureThreshold_);
Parameters::parse(parameters, Parameters::kStereoBMSpeckleWindowSize(), speckleWindowSize_);
Parameters::parse(parameters, Parameters::kStereoBMSpeckleRange(), speckleRange_);
}
cv::Mat StereoBM::computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const
{
UASSERT(!leftImage.empty() && !rightImage.empty());
UASSERT(leftImage.cols == rightImage.cols && leftImage.rows == rightImage.rows);
UASSERT((leftImage.type() == CV_8UC1 || leftImage.type() == CV_8UC3) && rightImage.type() == CV_8UC1);
cv::Mat leftMono;
if(leftImage.channels() == 3)
StereoDense * stereo = 0;
switch(type)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
}
else
{
leftMono = leftImage;
}
case StereoDense::kTypeSGBM:
stereo = new StereoSGBM(parameters);
break;
case StereoDense::kTypeBM:
default:
stereo = new StereoBM(parameters);
break;
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET);
stereo.state->SADWindowSize = blockSize_;
stereo.state->minDisparity = minDisparity_;
stereo.state->numberOfDisparities = numDisparities_;
stereo.state->preFilterSize = preFilterSize_;
stereo.state->preFilterCap = preFilterCap_;
stereo.state->uniquenessRatio = uniquenessRatio_;
stereo.state->textureThreshold = textureThreshold_;
stereo.state->speckleWindowSize = speckleWindowSize_;
stereo.state->speckleRange = speckleRange_;
stereo(leftMono, rightImage, disparity, CV_16SC1);
#else
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create();
stereo->setBlockSize(blockSize_);
stereo->setMinDisparity(minDisparity_);
stereo->setNumDisparities(numDisparities_);
stereo->setPreFilterSize(preFilterSize_);
stereo->setPreFilterCap(preFilterCap_);
stereo->setUniquenessRatio(uniquenessRatio_);
stereo->setTextureThreshold(textureThreshold_);
stereo->setSpeckleWindowSize(speckleWindowSize_);
stereo->setSpeckleRange(speckleRange_);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
}
return stereo;
}
} /* namespace rtabmap */

127
corelib/src/stereo/StereoBM.cpp Normal file
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@@ -0,0 +1,127 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions 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.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may 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 COPYRIGHT HOLDER 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.
*/
#include <rtabmap/core/stereo/StereoBM.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap {
StereoBM::StereoBM(int blockSize, int numDisparities) :
blockSize_(blockSize),
minDisparity_(Parameters::defaultStereoBMMinDisparity()),
numDisparities_(numDisparities),
preFilterSize_(Parameters::defaultStereoBMPreFilterSize()),
preFilterCap_(Parameters::defaultStereoBMPreFilterCap()),
uniquenessRatio_(Parameters::defaultStereoBMUniquenessRatio()),
textureThreshold_(Parameters::defaultStereoBMTextureThreshold()),
speckleWindowSize_(Parameters::defaultStereoBMSpeckleWindowSize()),
speckleRange_(Parameters::defaultStereoBMSpeckleRange()),
disp12MaxDiff_(Parameters::defaultStereoBMDisp12MaxDiff())
{
}
StereoBM::StereoBM(const ParametersMap & parameters) :
StereoDense(parameters),
blockSize_(Parameters::defaultStereoBMBlockSize()),
minDisparity_(Parameters::defaultStereoBMMinDisparity()),
numDisparities_(Parameters::defaultStereoBMNumDisparities()),
preFilterSize_(Parameters::defaultStereoBMPreFilterSize()),
preFilterCap_(Parameters::defaultStereoBMPreFilterCap()),
uniquenessRatio_(Parameters::defaultStereoBMUniquenessRatio()),
textureThreshold_(Parameters::defaultStereoBMTextureThreshold()),
speckleWindowSize_(Parameters::defaultStereoBMSpeckleWindowSize()),
speckleRange_(Parameters::defaultStereoBMSpeckleRange()),
disp12MaxDiff_(Parameters::defaultStereoBMDisp12MaxDiff())
{
this->parseParameters(parameters);
}
void StereoBM::parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kStereoBMBlockSize(), blockSize_);
Parameters::parse(parameters, Parameters::kStereoBMMinDisparity(), minDisparity_);
Parameters::parse(parameters, Parameters::kStereoBMNumDisparities(), numDisparities_);
Parameters::parse(parameters, Parameters::kStereoBMPreFilterSize(), preFilterSize_);
Parameters::parse(parameters, Parameters::kStereoBMPreFilterCap(), preFilterCap_);
Parameters::parse(parameters, Parameters::kStereoBMUniquenessRatio(), uniquenessRatio_);
Parameters::parse(parameters, Parameters::kStereoBMTextureThreshold(), textureThreshold_);
Parameters::parse(parameters, Parameters::kStereoBMSpeckleWindowSize(), speckleWindowSize_);
Parameters::parse(parameters, Parameters::kStereoBMSpeckleRange(), speckleRange_);
Parameters::parse(parameters, Parameters::kStereoBMDisp12MaxDiff(), disp12MaxDiff_);
}
cv::Mat StereoBM::computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const
{
UASSERT(!leftImage.empty() && !rightImage.empty());
UASSERT(leftImage.cols == rightImage.cols && leftImage.rows == rightImage.rows);
UASSERT((leftImage.type() == CV_8UC1 || leftImage.type() == CV_8UC3) && rightImage.type() == CV_8UC1);
cv::Mat leftMono;
if(leftImage.channels() == 3)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
}
else
{
leftMono = leftImage;
}
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET);
stereo.state->SADWindowSize = blockSize_;
stereo.state->minDisparity = minDisparity_;
stereo.state->numberOfDisparities = numDisparities_;
stereo.state->preFilterSize = preFilterSize_;
stereo.state->preFilterCap = preFilterCap_;
stereo.state->uniquenessRatio = uniquenessRatio_;
stereo.state->textureThreshold = textureThreshold_;
stereo.state->speckleWindowSize = speckleWindowSize_;
stereo.state->speckleRange = speckleRange_;
stereo(leftMono, rightImage, disparity, CV_16SC1);
#else
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create();
stereo->setBlockSize(blockSize_);
stereo->setMinDisparity(minDisparity_);
stereo->setNumDisparities(numDisparities_);
stereo->setPreFilterSize(preFilterSize_);
stereo->setPreFilterCap(preFilterCap_);
stereo->setUniquenessRatio(uniquenessRatio_);
stereo->setTextureThreshold(textureThreshold_);
stereo->setSpeckleWindowSize(speckleWindowSize_);
stereo->setSpeckleRange(speckleRange_);
stereo->setDisp12MaxDiff(disp12MaxDiff_);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
}
} /* namespace rtabmap */

119
corelib/src/stereo/StereoSGBM.cpp Normal file
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@@ -0,0 +1,119 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions 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.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may 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 COPYRIGHT HOLDER 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.
*/
#include <rtabmap/core/stereo/StereoSGBM.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
namespace rtabmap {
StereoSGBM::StereoSGBM(const ParametersMap & parameters) :
StereoDense(parameters),
blockSize_(Parameters::defaultStereoSGBMBlockSize()),
minDisparity_(Parameters::defaultStereoSGBMMinDisparity()),
numDisparities_(Parameters::defaultStereoSGBMNumDisparities()),
preFilterCap_(Parameters::defaultStereoSGBMPreFilterCap()),
uniquenessRatio_(Parameters::defaultStereoSGBMUniquenessRatio()),
speckleWindowSize_(Parameters::defaultStereoSGBMSpeckleWindowSize()),
speckleRange_(Parameters::defaultStereoSGBMSpeckleRange()),
P1_(Parameters::defaultStereoSGBMP1()),
P2_(Parameters::defaultStereoSGBMP2()),
disp12MaxDiff_(Parameters::defaultStereoSGBMDisp12MaxDiff()),
mode_(Parameters::defaultStereoSGBMMode())
{
this->parseParameters(parameters);
}
void StereoSGBM::parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kStereoSGBMBlockSize(), blockSize_);
Parameters::parse(parameters, Parameters::kStereoSGBMMinDisparity(), minDisparity_);
Parameters::parse(parameters, Parameters::kStereoSGBMNumDisparities(), numDisparities_);
Parameters::parse(parameters, Parameters::kStereoSGBMPreFilterCap(), preFilterCap_);
Parameters::parse(parameters, Parameters::kStereoSGBMUniquenessRatio(), uniquenessRatio_);
Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleWindowSize(), speckleWindowSize_);
Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleRange(), speckleRange_);
Parameters::parse(parameters, Parameters::kStereoSGBMP1(), P1_);
Parameters::parse(parameters, Parameters::kStereoSGBMP2(), P2_);
Parameters::parse(parameters, Parameters::kStereoSGBMDisp12MaxDiff(), disp12MaxDiff_);
Parameters::parse(parameters, Parameters::kStereoSGBMMode(), mode_);
}
cv::Mat StereoSGBM::computeDisparity(
const cv::Mat & leftImage,
const cv::Mat & rightImage) const
{
UASSERT(!leftImage.empty() && !rightImage.empty());
UASSERT(leftImage.cols == rightImage.cols && leftImage.rows == rightImage.rows);
UASSERT((leftImage.type() == CV_8UC1 || leftImage.type() == CV_8UC3) && rightImage.type() == CV_8UC1);
cv::Mat leftMono;
if(leftImage.channels() == 3)
{
cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
}
else
{
leftMono = leftImage;
}
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoSGBM stereo(
minDisparity_,
numDisparities_,
blockSize_,
P1_,
P2_,
disp12MaxDiff_,
preFilterCap_,
uniquenessRatio_,
speckleWindowSize_,
speckleRange_,
mode_==1);
stereo(leftMono, rightImage, disparity);
#else
cv::Ptr<cv::StereoSGBM> stereo = cv::StereoSGBM::create(
minDisparity_,
numDisparities_,
blockSize_,
P1_,
P2_,
disp12MaxDiff_,
preFilterCap_,
uniquenessRatio_,
speckleWindowSize_,
speckleRange_,
mode_);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
}
} /* namespace rtabmap */

7
corelib/src/util2d.cpp
View File

@@ -750,9 +750,10 @@ cv::Mat disparityFromStereoImages(
leftMono = leftImage;
}
cv::Mat disparity;
StereoBM stereo(parameters);
return stereo.computeDisparity(leftMono, rightImage);
StereoDense * stereo = StereoDense::create(parameters);
disparity = stereo->computeDisparity(leftMono, rightImage);
delete stereo;
return disparity;
}
cv::Mat depthFromDisparity(const cv::Mat & disparity,