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'resolves' 6898

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I have seen that you can input a Mat_<float> on StereoBM, but the value seems the same as CV_16S.
I changed it so, only if you input a Mat_<float> it makes use of a previously truncated 4 bits, giving more resolution to Disparity Matrix. (The algorithm stays the same, it's not more precise).
If any other input Mat is given, it changes nothing.
This commit is contained in:
Leonardo Brás 2016-07-15 19:55:19 -03:00 committed by Your Name
parent 69c4e84dad
commit 0e9c8e2dd5
1 changed files with 26 additions and 6 deletions
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32
modules/calib3d/src/stereobm.cpp
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@ -317,7 +317,9 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
}
static const int DISPARITY_SHIFT = 4;
static int DISPARITY_SHIFT;
static const int DISPARITY_SHIFT_16S = 4;
static const int DISPARITY_SHIFT_32S = 8;
#if CV_SSE2
static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
@ -568,8 +570,9 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
}
#endif
template <typename mType>
static void
findStereoCorrespondenceBM( const Mat& left, const Mat& right,
findStereoCorrespondenceBM_( const Mat& left, const Mat& right,
Mat& disp, Mat& cost, const StereoBMParams& state,
uchar* buf, int _dy0, int _dy1 )
{
@ -587,7 +590,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
int ftzero = state.preFilterCap;
int textureThreshold = state.textureThreshold;
int uniquenessRatio = state.uniquenessRatio;
short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT);
mType FILTERED = (mType)((mindisp - 1) << DISPARITY_SHIFT);
#if CV_NEON
CV_Assert (ndisp % 8 == 0);
@ -603,7 +606,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
const uchar* lptr0 = left.ptr() + lofs;
const uchar* rptr0 = right.ptr() + rofs;
const uchar *lptr, *lptr_sub, *rptr;
short* dptr = disp.ptr<short>();
mType* dptr = disp.ptr<mType>();
int sstep = (int)left.step;
int dstep = (int)(disp.step/sizeof(dptr[0]));
int cstep = (height+dy0+dy1)*ndisp;
@ -846,13 +849,30 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
dptr[y*dstep] = (mType)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15)
>> (DISPARITY_SHIFT_32S - DISPARITY_SHIFT));
costptr[y*coststep] = sad[mind];
}
}
}
}
static void
findStereoCorrespondenceBM( const Mat& left, const Mat& right,
Mat& disp, Mat& cost, const StereoBMParams& state,
uchar* buf, int _dy0, int _dy1 )
{
if(disp.type() == CV_16S){
DISPARITY_SHIFT = DISPARITY_SHIFT_16S;
findStereoCorrespondenceBM_<short>(left, right, disp, cost, state,
buf, _dy0, _dy1 );
} else {
DISPARITY_SHIFT = DISPARITY_SHIFT_32S;
findStereoCorrespondenceBM_<int>(left, right, disp, cost, state,
buf, _dy0, _dy1 );
}
}
#ifdef HAVE_OPENCL
static bool ocl_prefiltering(InputArray left0, InputArray right0, OutputArray left, OutputArray right, StereoBMParams* state)
{
@ -1129,7 +1149,7 @@ public:
Mat disp = disp0;
if( dtype == CV_32F )
{
dispbuf.create(disp0.size(), CV_16S);
dispbuf.create(disp0.size(), CV_32S);
disp = dispbuf;
}