StereoBM.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      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.
 
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#include <rtabmap/core/stereo/StereoBM.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
 
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()),
                disp12MaxDiff_(Parameters::defaultStereoBMDisp12MaxDiff())
{
}
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()),
                disp12MaxDiff_(Parameters::defaultStereoBMDisp12MaxDiff())
{
        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::kStereoBMSpeckleWindowSize(), speckleWindowSize_);
        Parameters::parse(parameters, Parameters::kStereoBMSpeckleRange(), speckleRange_);
        Parameters::parse(parameters, Parameters::kStereoBMDisp12MaxDiff(), disp12MaxDiff_);
}
 
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->setDisp12MaxDiff(disp12MaxDiff_);
        stereo->compute(leftMono, rightImage, disparity);
#endif
 
        if(minDisparity_>0)
        {
                cv::Mat dst;
                cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
                disparity = dst;
        }
 
        return disparity;
}
 
} /* namespace rtabmap */