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0.11.7: Added ZED sdk support

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matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
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corelib/src/util2d.cpp
+5 -28
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/StereoDense.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
@@ -724,12 +725,11 @@ void calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextIm
cv::Mat disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
int type)
const ParametersMap & parameters)
{
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);
UASSERT(type == CV_32FC1 || type == CV_16SC1);
cv::Mat leftMono;
if(leftImage.channels() == 3)
@@ -741,32 +741,9 @@ cv::Mat disparityFromStereoImages(
leftMono = leftImage;
}
cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
cv::StereoBM stereo(cv::StereoBM::BASIC_PRESET);
stereo.state->SADWindowSize = 15;
stereo.state->minDisparity = 0;
stereo.state->numberOfDisparities = 64;
stereo.state->preFilterSize = 9;
stereo.state->preFilterCap = 31;
stereo.state->uniquenessRatio = 15;
stereo.state->textureThreshold = 10;
stereo.state->speckleWindowSize = 100;
stereo.state->speckleRange = 4;
stereo(leftMono, rightImage, disparity, type);
#else
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create();
stereo->setBlockSize(15);
stereo->setMinDisparity(0);
stereo->setNumDisparities(64);
stereo->setPreFilterSize(9);
stereo->setPreFilterCap(31);
stereo->setUniquenessRatio(15);
stereo->setTextureThreshold(10);
stereo->setSpeckleWindowSize(100);
stereo->setSpeckleRange(4);
stereo->compute(leftMono, rightImage, disparity);
#endif
return disparity;
StereoBM stereo(parameters);
return stereo.computeDisparity(leftMono, rightImage);
}
cv::Mat depthFromDisparity(const cv::Mat & disparity,