Stereo.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
      notice, this list of conditions and the following disclaimer in the
      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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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/
 
#include <rtabmap/core/Stereo.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <opencv2/video/tracking.hpp>
 
#ifdef HAVE_OPENCV_CUDAOPTFLOW
#include <opencv2/cudaoptflow.hpp>
#endif
 
namespace rtabmap {
 
Stereo * Stereo::create(const ParametersMap & parameters)
{
        bool opticalFlow = Parameters::defaultStereoOpticalFlow();
        Parameters::parse(parameters, Parameters::kStereoOpticalFlow(), opticalFlow);
        if(opticalFlow)
        {
                return new StereoOpticalFlow(parameters);
        }
        else
        {
                return new Stereo(parameters);
        }
}
 
Stereo::Stereo(const ParametersMap & parameters) :
                winWidth_(Parameters::defaultStereoWinWidth()),
                winHeight_(Parameters::defaultStereoWinHeight()),
                iterations_(Parameters::defaultStereoIterations()),
                maxLevel_(Parameters::defaultStereoMaxLevel()),
                minDisparity_(Parameters::defaultStereoMinDisparity()),
                maxDisparity_(Parameters::defaultStereoMaxDisparity()),
                winSSD_(Parameters::defaultStereoSSD())
{
        this->parseParameters(parameters);
}
 
void Stereo::parseParameters(const ParametersMap & parameters)
{
        Parameters::parse(parameters, Parameters::kStereoWinWidth(), winWidth_);
        Parameters::parse(parameters, Parameters::kStereoWinHeight(), winHeight_);
        Parameters::parse(parameters, Parameters::kStereoIterations(), iterations_);
        Parameters::parse(parameters, Parameters::kStereoMaxLevel(), maxLevel_);
        Parameters::parse(parameters, Parameters::kStereoMinDisparity(), minDisparity_);
        Parameters::parse(parameters, Parameters::kStereoMaxDisparity(), maxDisparity_);
        Parameters::parse(parameters, Parameters::kStereoSSD(), winSSD_);
}
 
std::vector<cv::Point2f> Stereo::computeCorrespondences(
                const cv::Mat & leftImage,
                const cv::Mat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                std::vector<unsigned char> & status) const
{
        UASSERT(leftImage.type() == CV_8UC1);
        UASSERT(rightImage.type() == CV_8UC1);
        std::vector<cv::Point2f> rightCorners;
        UDEBUG("util2d::calcStereoCorrespondences() begin");
        rightCorners = util2d::calcStereoCorrespondences(
                                        leftImage,
                                        rightImage,
                                        leftCorners,
                                        status,
                                        cv::Size(winWidth_, winHeight_),
                                        maxLevel_,
                                        iterations_,
                                        minDisparity_,
                                        maxDisparity_,
                                        winSSD_);
        UDEBUG("util2d::calcStereoCorrespondences() end");
        return rightCorners;
}
 
#ifdef HAVE_OPENCV_CUDEV
std::vector<cv::Point2f> Stereo::computeCorrespondences(
                const cv::cuda::GpuMat & leftImage,
                const cv::cuda::GpuMat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                std::vector<unsigned char> & status) const
{
        UERROR("GPU support for this approach is not implemented!");
        return std::vector<cv::Point2f>();
}
#endif
 
StereoOpticalFlow::StereoOpticalFlow(const ParametersMap & parameters) :
                Stereo(parameters),
                epsilon_(Parameters::defaultStereoEps()),
                gpu_(Parameters::defaultStereoGpu())
{
        this->parseParameters(parameters);
}
 
void StereoOpticalFlow::parseParameters(const ParametersMap & parameters)
{
        Stereo::parseParameters(parameters);
        Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_);
        Parameters::parse(parameters, Parameters::kStereoGpu(), gpu_);
#ifndef HAVE_OPENCV_CUDAOPTFLOW
        if(gpu_)
        {
                UERROR("%s is enabled but RTAB-Map is not built with OpenCV CUDA, disabling it.", Parameters::kStereoGpu().c_str());
                gpu_ = false;
        }
#endif
}
 
bool StereoOpticalFlow::isGpuEnabled() const
{
#ifdef HAVE_OPENCV_CUDAOPTFLOW
        return gpu_;
#else
        return false;
#endif
}
 
std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
                const cv::Mat & leftImage,
                const cv::Mat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                std::vector<unsigned char> & status) const
{
        UASSERT(leftImage.type() == CV_8UC1);
        UASSERT(rightImage.type() == CV_8UC1);
        std::vector<cv::Point2f> rightCorners;
        std::vector<float> err;
#ifdef HAVE_OPENCV_CUDAOPTFLOW
        if(gpu_)
        {
                cv::cuda::GpuMat d_leftImage(leftImage);
                cv::cuda::GpuMat d_rightImage(rightImage);
                return computeCorrespondences(d_leftImage, d_rightImage, leftCorners, status);
        }
        else
#endif
        {
                UDEBUG("util2d::calcOpticalFlowPyrLKStereo() begin");
                util2d::calcOpticalFlowPyrLKStereo(
                                leftImage,
                                rightImage,
                                leftCorners,
                                rightCorners,
                                status,
                                err,
                                this->winSize(),
                                this->maxLevel(),
                                cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_),
                                cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
                UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end");
        }
        updateStatus(leftCorners, rightCorners, status);
        return rightCorners;
}
 
#ifdef HAVE_OPENCV_CUDEV
std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
                const cv::cuda::GpuMat & leftImage,
                const cv::cuda::GpuMat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                std::vector<unsigned char> & status) const
{
        std::vector<cv::Point2f> rightCorners;
#ifdef HAVE_OPENCV_CUDAOPTFLOW
        UASSERT(leftImage.type() == CV_8UC1);
        UASSERT(rightImage.type() == CV_8UC1);
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device begin");
        cv::cuda::GpuMat d_leftImage(leftImage);
        cv::cuda::GpuMat d_rightImage(rightImage);
        cv::cuda::GpuMat d_leftCorners(leftCorners);
        cv::cuda::GpuMat d_rightCorners;
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device end");
        cv::cuda::GpuMat d_status;
        cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> d_pyrLK_sparse = cv::cuda::SparsePyrLKOpticalFlow::create(
                this->winSize(), this->maxLevel(), this->iterations());
 
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc begin");
        d_pyrLK_sparse->calc(d_leftImage, d_rightImage, d_leftCorners, d_rightCorners, d_status);
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc end");
 
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host begin");
        // Transfer back data to CPU
        rightCorners = std::vector<cv::Point2f>(d_rightCorners.cols);
        cv::Mat matRightCorners(1, d_rightCorners.cols, CV_32FC2, (void*)&rightCorners[0]);
        d_rightCorners.download(matRightCorners);
 
        status = std::vector<unsigned char>(d_status.cols);
        cv::Mat matStatus(1, d_status.cols, CV_8UC1, (void*)&status[0]);
        d_status.download(matStatus);
        UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host end");
 
        updateStatus(leftCorners, rightCorners, status);
 
#else
        UERROR("GPU support for this approach is not implemented!");
#endif
        return rightCorners;
}
#endif
 
void StereoOpticalFlow::updateStatus(
                const std::vector<cv::Point2f> & leftCorners,
                const std::vector<cv::Point2f> & rightCorners,
                std::vector<unsigned char> & status) const
{
        UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size());
        int countFlowRejected = 0;
        int countDisparityRejected = 0;
        for(unsigned int i=0; i<status.size(); ++i)
        {
                if(status[i]!=0)
                {
                        float disparity = leftCorners[i].x - rightCorners[i].x;
                        if(disparity <= this->minDisparity() || disparity > this->maxDisparity())
                        {
                                status[i] = 0;
                                ++countDisparityRejected;
                        }
                }
                else
                {
                        ++countFlowRejected;
                }
        }
        UDEBUG("total=%d countFlowRejected=%d countDisparityRejected=%d", (int)status.size(), countFlowRejected, countDisparityRejected);
}
 
} /* namespace rtabmap */