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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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corelib/src/StereoDense.cpp
+18 -84
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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 */