StereoVisionSVS.cpp

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  StereoVisionSVS.cpp
// Author:    Pedram Azad
// Date:      2005
// ****************************************************************************


// ****************************************************************************
// Includes
// ****************************************************************************

#include "StereoVisionSVS.h"

#include "ByteImage.h"
#include "Math/FloatMatrix.h"

#include <svsclass.h>



// ****************************************************************************
// Constructor / Destructor
// ****************************************************************************

CStereoVisionSVS::CStereoVisionSVS()
{
        m_pSVSStereoImage = new svsStereoImage();
        m_pSVSStereoProcess = new svsStereoProcess();
        m_pSVSStereoImage->disparity = new short[640 * 480];
}

CStereoVisionSVS::~CStereoVisionSVS()
{
        delete m_pSVSStereoProcess;
        delete m_pSVSStereoImage;
}


// ****************************************************************************
// Methods
// ****************************************************************************

bool CStereoVisionSVS::Process(CByteImage *pLeftImage, CByteImage *pRightImage, CFloatMatrix *pDepthMap, int nWindowSize, int nDisparites, int nStep, int nThreshold)
{
        if (pLeftImage->width != pRightImage->width || pLeftImage->height != pRightImage->height ||
                pLeftImage->type != CByteImage::eGrayScale || pRightImage->type != CByteImage::eGrayScale ||
                pDepthMap->columns != pLeftImage->width || pDepthMap->rows != pLeftImage->height)
                return false;
                
        m_pSVSStereoImage->dp.corrsize = nWindowSize;
        m_pSVSStereoImage->dp.thresh = nThreshold;
        m_pSVSStereoImage->dp.lr = 1;
        m_pSVSStereoImage->dp.ndisp = nDisparites;
        m_pSVSStereoImage->dp.dpp = nStep;
        m_pSVSStereoImage->dp.offx = 0;
        m_pSVSStereoImage->dp.offy = 0;
        
        m_pSVSStereoImage->have3D = false;
        
        svsImageParams ip;
        ip.linelen = pLeftImage->width;
        ip.lines = pLeftImage->height;
        ip.ix = 0;
        ip.iy = 0;
        ip.width = pLeftImage->width;
        ip.height = pRightImage->height;
        ip.vergence = 0;
        ip.gamma = 1.0;
                
        m_pSVSStereoImage->SetImages(pLeftImage->pixels, pRightImage->pixels, 0, 0, &ip, 0, false, false);
        
        m_pSVSStereoProcess->CalcStereo(m_pSVSStereoImage, false);
        
        const int nPixels = pLeftImage->width * pLeftImage->height;
        const short *input = m_pSVSStereoImage->disparity;
        float *output = pDepthMap->data;
        
        for (int i = 0; i < nPixels; i++)
                output[i] = input[i];

        return true;
}