Stereo.cpp
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2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #include <rtabmap/core/Stereo.h>
29 #include <rtabmap/core/util2d.h>
31 #include <opencv2/video/tracking.hpp>
32 
33 namespace rtabmap {
34 
35 Stereo * Stereo::create(const ParametersMap & parameters)
36 {
37  bool opticalFlow = Parameters::defaultStereoOpticalFlow();
38  Parameters::parse(parameters, Parameters::kStereoOpticalFlow(), opticalFlow);
39  if(opticalFlow)
40  {
41  return new StereoOpticalFlow(parameters);
42  }
43  else
44  {
45  return new Stereo(parameters);
46  }
47 }
48 
49 Stereo::Stereo(const ParametersMap & parameters) :
50  winWidth_(Parameters::defaultStereoWinWidth()),
51  winHeight_(Parameters::defaultStereoWinHeight()),
52  iterations_(Parameters::defaultStereoIterations()),
53  maxLevel_(Parameters::defaultStereoMaxLevel()),
54  minDisparity_(Parameters::defaultStereoMinDisparity()),
55  maxDisparity_(Parameters::defaultStereoMaxDisparity()),
56  winSSD_(Parameters::defaultStereoSSD())
57 {
58  this->parseParameters(parameters);
59 }
60 
61 void Stereo::parseParameters(const ParametersMap & parameters)
62 {
63  Parameters::parse(parameters, Parameters::kStereoWinWidth(), winWidth_);
64  Parameters::parse(parameters, Parameters::kStereoWinHeight(), winHeight_);
65  Parameters::parse(parameters, Parameters::kStereoIterations(), iterations_);
66  Parameters::parse(parameters, Parameters::kStereoMaxLevel(), maxLevel_);
67  Parameters::parse(parameters, Parameters::kStereoMinDisparity(), minDisparity_);
68  Parameters::parse(parameters, Parameters::kStereoMaxDisparity(), maxDisparity_);
69  Parameters::parse(parameters, Parameters::kStereoSSD(), winSSD_);
70 }
71 
72 std::vector<cv::Point2f> Stereo::computeCorrespondences(
73  const cv::Mat & leftImage,
74  const cv::Mat & rightImage,
75  const std::vector<cv::Point2f> & leftCorners,
76  std::vector<unsigned char> & status) const
77 {
78  std::vector<cv::Point2f> rightCorners;
79  UDEBUG("util2d::calcStereoCorrespondences() begin");
80  rightCorners = util2d::calcStereoCorrespondences(
81  leftImage,
82  rightImage,
83  leftCorners,
84  status,
85  cv::Size(winWidth_, winHeight_),
86  maxLevel_,
90  winSSD_);
91  UDEBUG("util2d::calcStereoCorrespondences() end");
92  return rightCorners;
93 }
94 
96  Stereo(parameters),
97  epsilon_(Parameters::defaultStereoEps())
98 {
99  this->parseParameters(parameters);
100 }
101 
103 {
104  Stereo::parseParameters(parameters);
105  Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_);
106 }
107 
108 
110  const cv::Mat & leftImage,
111  const cv::Mat & rightImage,
112  const std::vector<cv::Point2f> & leftCorners,
113  std::vector<unsigned char> & status) const
114 {
115  std::vector<cv::Point2f> rightCorners;
116  UDEBUG("util2d::calcOpticalFlowPyrLKStereo() begin");
117  std::vector<float> err;
119  leftImage,
120  rightImage,
121  leftCorners,
122  rightCorners,
123  status,
124  err,
125  this->winSize(),
126  this->maxLevel(),
127  cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_),
128  cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
129  UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end");
130  UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size());
131  int countFlowRejected = 0;
132  int countDisparityRejected = 0;
133  for(unsigned int i=0; i<status.size(); ++i)
134  {
135  if(status[i]!=0)
136  {
137  float disparity = leftCorners[i].x - rightCorners[i].x;
138  if(disparity <= this->minDisparity() || disparity > this->maxDisparity())
139  {
140  status[i] = 0;
141  ++countDisparityRejected;
142  }
143  }
144  else
145  {
146  ++countFlowRejected;
147  }
148  }
149  UDEBUG("total=%d countFlowRejected=%d countDisparityRejected=%d", (int)status.size(), countFlowRejected, countDisparityRejected);
150 
151  if(countFlowRejected + countDisparityRejected > (int)status.size()/2)
152  {
153  UWARN("A large number (%d/%d) of stereo correspondences are rejected! "
154  "Optical flow may have failed because images are not calibrated, "
155  "the background is too far (no disparity between the images), "
156  "maximum disparity may be too small (%f) or that exposure between "
157  "left and right images is too different.",
158  countFlowRejected+countDisparityRejected,
159  (int)status.size(),
160  this->maxDisparity());
161  }
162 
163  return rightCorners;
164 }
165 
166 } /* namespace rtabmap */
static bool parse(const ParametersMap &parameters, const std::string &key, bool &value)
Definition: Parameters.cpp:476
Stereo(const ParametersMap &parameters=ParametersMap())
Definition: Stereo.cpp:49
float minDisparity_
Definition: Stereo.h:65
GLM_FUNC_DECL genType e()
cv::Size winSize() const
Definition: Stereo.h:53
float maxDisparity_
Definition: Stereo.h:66
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
int winHeight_
Definition: Stereo.h:62
int maxLevel_
Definition: Stereo.h:64
#define UASSERT(condition)
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Definition: Stereo.cpp:72
int iterations() const
Definition: Stereo.h:54
virtual void parseParameters(const ParametersMap &parameters)
Definition: Stereo.cpp:61
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Definition: Stereo.cpp:109
static Stereo * create(const ParametersMap &parameters=ParametersMap())
Definition: Stereo.cpp:35
float minDisparity() const
Definition: Stereo.h:56
bool winSSD_
Definition: Stereo.h:67
int winWidth_
Definition: Stereo.h:61
#define UDEBUG(...)
float maxDisparity() const
Definition: Stereo.h:57
ULogger class and convenient macros.
#define UWARN(...)
StereoOpticalFlow(const ParametersMap &parameters=ParametersMap())
Definition: Stereo.cpp:95
int maxLevel() const
Definition: Stereo.h:55
int iterations_
Definition: Stereo.h:63
std::vector< cv::Point2f > RTABMAP_EXP calcStereoCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status, cv::Size winSize=cv::Size(6, 3), int maxLevel=3, int iterations=5, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
Definition: util2d.cpp:122
virtual void parseParameters(const ParametersMap &parameters)
Definition: Stereo.cpp:102
void RTABMAP_EXP calcOpticalFlowPyrLKStereo(cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)
Definition: util2d.cpp:371


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06