Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

2026-10-07 02:27:47 +08:00 · 2015-12-11 17:44:15 -05:00
parent 818eda005f
commit 9cc94ce1e6
44 changed files with 6866 additions and 4311 deletions
@@ -0,0 +1,122 @@
+/*
+Copyright (c) 2010-2014, 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/StereoDense.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+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())
+{
+}
+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);
+}
+
+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::kStereoBMPreFilterSize(), 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)
+	{
+		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->compute(leftMono, rightImage, disparity);
+#endif
+	return disparity;
+}
+
+} /* namespace rtabmap */