00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef _FRAME_COMMON_STEREO_H_ 00036 #define _FRAME_COMMON_STEREO_H_ 00037 00038 #include <frame_common/stereolib.h> 00039 #include <cv.h> 00040 00041 namespace frame_common 00042 { 00043 00044 class FrameStereo 00045 { 00046 public: 00047 virtual double lookup_disparity(int x, int y) const = 0; 00048 virtual ~FrameStereo() { } 00049 }; 00050 00051 00052 class SparseStereo : public FrameStereo 00053 { 00054 private: 00055 static const int ftzero = 31; 00056 static const int tfilter_thresh = 10; 00057 static const int ufilter_thresh = 15; 00058 cv::Mat lim, rim; 00059 bool use_grad_img; 00060 uint max_disp; 00061 uint8_t *lgrad, *rgrad; 00062 00063 public: 00064 SparseStereo(const cv::Mat& leftImg, const cv::Mat& rightImg, 00065 bool use_grad_image = true, uint max_disparity=64); 00066 ~SparseStereo(); 00067 double lookup_disparity(int x, int y) const; 00068 }; 00069 00070 class DenseStereo : public FrameStereo 00071 { 00072 private: 00073 static const int ftzero = 31; 00074 00075 cv::Mat lim, rim; 00076 uint8_t *flim, *frim, *buf; 00077 int16_t *imDisp; 00078 00079 public: 00080 DenseStereo(const cv::Mat& leftImg, const cv::Mat& rightImg, 00081 int nd = 0, double frac = 0.0); 00082 ~DenseStereo(); 00083 double lookup_disparity(int x, int y) const; 00084 00085 static int textureThresh; 00086 static int uniqueThresh; 00087 static int corrSize; 00088 static int ndisp; // number of disparities 00089 static double fdisp; // fractional disparities, e.g., 1/16 00090 }; 00091 00092 00093 } // end namespace frame_common 00094 00095 #endif // _SPARSE_STEREO_H_