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128 lines
4.7 KiB
C++
128 lines
4.7 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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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
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, 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 AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/stereo/StereoSGBM.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/imgproc/types_c.h>
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namespace rtabmap {
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StereoSGBM::StereoSGBM(const ParametersMap & parameters) :
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StereoDense(parameters),
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blockSize_(Parameters::defaultStereoSGBMBlockSize()),
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minDisparity_(Parameters::defaultStereoSGBMMinDisparity()),
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numDisparities_(Parameters::defaultStereoSGBMNumDisparities()),
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preFilterCap_(Parameters::defaultStereoSGBMPreFilterCap()),
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uniquenessRatio_(Parameters::defaultStereoSGBMUniquenessRatio()),
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speckleWindowSize_(Parameters::defaultStereoSGBMSpeckleWindowSize()),
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speckleRange_(Parameters::defaultStereoSGBMSpeckleRange()),
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P1_(Parameters::defaultStereoSGBMP1()),
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P2_(Parameters::defaultStereoSGBMP2()),
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disp12MaxDiff_(Parameters::defaultStereoSGBMDisp12MaxDiff()),
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mode_(Parameters::defaultStereoSGBMMode())
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{
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this->parseParameters(parameters);
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}
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void StereoSGBM::parseParameters(const ParametersMap & parameters)
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{
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Parameters::parse(parameters, Parameters::kStereoSGBMBlockSize(), blockSize_);
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Parameters::parse(parameters, Parameters::kStereoSGBMMinDisparity(), minDisparity_);
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Parameters::parse(parameters, Parameters::kStereoSGBMNumDisparities(), numDisparities_);
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Parameters::parse(parameters, Parameters::kStereoSGBMPreFilterCap(), preFilterCap_);
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Parameters::parse(parameters, Parameters::kStereoSGBMUniquenessRatio(), uniquenessRatio_);
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Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleWindowSize(), speckleWindowSize_);
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Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleRange(), speckleRange_);
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Parameters::parse(parameters, Parameters::kStereoSGBMP1(), P1_);
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Parameters::parse(parameters, Parameters::kStereoSGBMP2(), P2_);
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Parameters::parse(parameters, Parameters::kStereoSGBMDisp12MaxDiff(), disp12MaxDiff_);
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Parameters::parse(parameters, Parameters::kStereoSGBMMode(), mode_);
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}
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cv::Mat StereoSGBM::computeDisparity(
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const cv::Mat & leftImage,
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const cv::Mat & rightImage) const
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{
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UASSERT(!leftImage.empty() && !rightImage.empty());
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UASSERT(leftImage.cols == rightImage.cols && leftImage.rows == rightImage.rows);
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UASSERT((leftImage.type() == CV_8UC1 || leftImage.type() == CV_8UC3) && rightImage.type() == CV_8UC1);
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cv::Mat leftMono;
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if(leftImage.channels() == 3)
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{
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cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
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}
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else
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{
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leftMono = leftImage;
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}
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cv::Mat disparity;
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#if CV_MAJOR_VERSION < 3
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cv::StereoSGBM stereo(
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minDisparity_,
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numDisparities_,
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blockSize_,
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P1_,
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P2_,
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disp12MaxDiff_,
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preFilterCap_,
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uniquenessRatio_,
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speckleWindowSize_,
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speckleRange_,
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mode_==1);
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stereo(leftMono, rightImage, disparity);
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#else
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cv::Ptr<cv::StereoSGBM> stereo = cv::StereoSGBM::create(
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minDisparity_,
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numDisparities_,
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blockSize_,
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P1_,
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P2_,
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disp12MaxDiff_,
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preFilterCap_,
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uniquenessRatio_,
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speckleWindowSize_,
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speckleRange_,
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mode_);
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stereo->compute(leftMono, rightImage, disparity);
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#endif
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if(minDisparity_>0)
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{
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cv::Mat dst;
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cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
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disparity = dst;
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}
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return disparity;
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}
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} /* namespace rtabmap */
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