StereoSGBM.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/StereoSGBM.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
 
namespace rtabmap {
 
StereoSGBM::StereoSGBM(const ParametersMap & parameters) :
                StereoDense(parameters),
                blockSize_(Parameters::defaultStereoSGBMBlockSize()),
                minDisparity_(Parameters::defaultStereoSGBMMinDisparity()),
                numDisparities_(Parameters::defaultStereoSGBMNumDisparities()),
                preFilterCap_(Parameters::defaultStereoSGBMPreFilterCap()),
                uniquenessRatio_(Parameters::defaultStereoSGBMUniquenessRatio()),
                speckleWindowSize_(Parameters::defaultStereoSGBMSpeckleWindowSize()),
                speckleRange_(Parameters::defaultStereoSGBMSpeckleRange()),
                P1_(Parameters::defaultStereoSGBMP1()),
                P2_(Parameters::defaultStereoSGBMP2()),
                disp12MaxDiff_(Parameters::defaultStereoSGBMDisp12MaxDiff()),
                mode_(Parameters::defaultStereoSGBMMode())
{
        this->parseParameters(parameters);
}
 
void StereoSGBM::parseParameters(const ParametersMap & parameters)
{
        Parameters::parse(parameters, Parameters::kStereoSGBMBlockSize(), blockSize_);
        Parameters::parse(parameters, Parameters::kStereoSGBMMinDisparity(), minDisparity_);
        Parameters::parse(parameters, Parameters::kStereoSGBMNumDisparities(), numDisparities_);
        Parameters::parse(parameters, Parameters::kStereoSGBMPreFilterCap(), preFilterCap_);
        Parameters::parse(parameters, Parameters::kStereoSGBMUniquenessRatio(), uniquenessRatio_);
        Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleWindowSize(), speckleWindowSize_);
        Parameters::parse(parameters, Parameters::kStereoSGBMSpeckleRange(), speckleRange_);
        Parameters::parse(parameters, Parameters::kStereoSGBMP1(), P1_);
        Parameters::parse(parameters, Parameters::kStereoSGBMP2(), P2_);
        Parameters::parse(parameters, Parameters::kStereoSGBMDisp12MaxDiff(), disp12MaxDiff_);
        Parameters::parse(parameters, Parameters::kStereoSGBMMode(), mode_);
}
 
cv::Mat StereoSGBM::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);
        UASSERT(rightImage.type() == CV_8UC1 || rightImage.type() == CV_8UC3);
 
        cv::Mat leftMono;
        if(leftImage.channels() == 3)
        {
                cv::cvtColor(leftImage, leftMono, CV_BGR2GRAY);
        }
        else
        {
                leftMono = leftImage;
        }
 
        cv::Mat rightMono;
        if(rightImage.channels() == 3)
        {
                cv::cvtColor(rightImage, rightMono, CV_BGR2GRAY);
        }
        else
        {
                rightMono = rightImage;
        }
 
        cv::Mat disparity;
#if CV_MAJOR_VERSION < 3
        cv::StereoSGBM stereo(
                        minDisparity_,
                        numDisparities_,
                        blockSize_,
            P1_,
                        P2_,
                        disp12MaxDiff_,
                        preFilterCap_,
                        uniquenessRatio_,
                        speckleWindowSize_,
                        speckleRange_,
            mode_==1);
        stereo(leftMono, rightMono, disparity);
#else
        cv::Ptr<cv::StereoSGBM> stereo = cv::StereoSGBM::create(
                        minDisparity_,
                        numDisparities_,
                        blockSize_,
            P1_,
                        P2_,
                        disp12MaxDiff_,
                        preFilterCap_,
                        uniquenessRatio_,
                        speckleWindowSize_,
                        speckleRange_,
            mode_);
        stereo->compute(leftMono, rightMono, disparity);
#endif
 
        if(minDisparity_>0)
        {
                cv::Mat dst;
                cv::threshold(disparity, dst, minDisparity_*16, 0, cv::THRESH_TOZERO);
                disparity = dst;
        }
 
        return disparity;
}
 
} /* namespace rtabmap */