StereoBM.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      documentation and/or other materials provided with the distribution.
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      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
        return disparity;
}

} /* namespace rtabmap */