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Merge pull request #692 from vpisarev:refactor_calib3d_stereo

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This commit is contained in:
Andrey Kamaev
2013-03-26 18:38:15 +04:00
committed by OpenCV Buildbot
parent 8eff34ee0b 322d781192
commit 20534c9beb
11 changed files with 351 additions and 428 deletions
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110
modules/calib3d/src/stereobm.cpp
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@@ -56,7 +56,7 @@ struct StereoBMParams
{
StereoBMParams(int _numDisparities=64, int _SADWindowSize=21)
{
preFilterType = STEREO_PREFILTER_XSOBEL;
preFilterType = StereoBM::PREFILTER_XSOBEL;
preFilterSize = 9;
preFilterCap = 31;
SADWindowSize = _SADWindowSize;
@@ -676,7 +676,7 @@ struct PrefilterInvoker : public ParallelLoopBody
{
for( int i = range.start; i < range.end; i++ )
{
if( state->preFilterType == STEREO_PREFILTER_NORMALIZED_RESPONSE )
if( state->preFilterType == StereoBM::PREFILTER_NORMALIZED_RESPONSE )
prefilterNorm( *imgs0[i], *imgs[i], state->preFilterSize, state->preFilterCap, buf[i] );
else
prefilterXSobel( *imgs0[i], *imgs[i], state->preFilterCap );
@@ -771,8 +771,7 @@ protected:
Rect validDisparityRect;
};
class StereoBMImpl : public StereoMatcher
class StereoBMImpl : public StereoBM
{
public:
StereoBMImpl()
@@ -802,8 +801,8 @@ public:
disparr.create(left0.size(), dtype);
Mat disp0 = disparr.getMat();
if( params.preFilterType != STEREO_PREFILTER_NORMALIZED_RESPONSE &&
params.preFilterType != STEREO_PREFILTER_XSOBEL )
if( params.preFilterType != PREFILTER_NORMALIZED_RESPONSE &&
params.preFilterType != PREFILTER_XSOBEL )
CV_Error( CV_StsOutOfRange, "preFilterType must be = CV_STEREO_BM_NORMALIZED_RESPONSE" );
if( params.preFilterSize < 5 || params.preFilterSize > 255 || params.preFilterSize % 2 == 0 )
@@ -901,33 +900,96 @@ public:
disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0);
}
AlgorithmInfo* info() const;
AlgorithmInfo* info() const { return 0; }
int getMinDisparity() const { return params.minDisparity; }
void setMinDisparity(int minDisparity) { params.minDisparity = minDisparity; }
int getNumDisparities() const { return params.numDisparities; }
void setNumDisparities(int numDisparities) { params.numDisparities = numDisparities; }
int getBlockSize() const { return params.SADWindowSize; }
void setBlockSize(int blockSize) { params.SADWindowSize = blockSize; }
int getSpeckleWindowSize() const { return params.speckleWindowSize; }
void setSpeckleWindowSize(int speckleWindowSize) { params.speckleWindowSize = speckleWindowSize; }
int getSpeckleRange() const { return params.speckleRange; }
void setSpeckleRange(int speckleRange) { params.speckleRange = speckleRange; }
int getDisp12MaxDiff() const { return params.disp12MaxDiff; }
void setDisp12MaxDiff(int disp12MaxDiff) { params.disp12MaxDiff = disp12MaxDiff; }
int getPreFilterType() const { return params.preFilterType; }
void setPreFilterType(int preFilterType) { params.preFilterType = preFilterType; }
int getPreFilterSize() const { return params.preFilterSize; }
void setPreFilterSize(int preFilterSize) { params.preFilterSize = preFilterSize; }
int getPreFilterCap() const { return params.preFilterCap; }
void setPreFilterCap(int preFilterCap) { params.preFilterCap = preFilterCap; }
int getTextureThreshold() const { return params.textureThreshold; }
void setTextureThreshold(int textureThreshold) { params.textureThreshold = textureThreshold; }
int getUniquenessRatio() const { return params.uniquenessRatio; }
void setUniquenessRatio(int uniquenessRatio) { params.uniquenessRatio = uniquenessRatio; }
int getSmallerBlockSize() const { return 0; }
void setSmallerBlockSize(int) {}
Rect getROI1() const { return params.roi1; }
void setROI1(Rect roi1) { params.roi1 = roi1; }
Rect getROI2() const { return params.roi2; }
void setROI2(Rect roi2) { params.roi2 = roi2; }
void write(FileStorage& fs) const
{
fs << "name" << name_
<< "minDisparity" << params.minDisparity
<< "numDisparities" << params.numDisparities
<< "blockSize" << params.SADWindowSize
<< "speckleWindowSize" << params.speckleWindowSize
<< "speckleRange" << params.speckleRange
<< "disp12MaxDiff" << params.disp12MaxDiff
<< "preFilterType" << params.preFilterType
<< "preFilterSize" << params.preFilterSize
<< "preFilterCap" << params.preFilterCap
<< "textureThreshold" << params.textureThreshold
<< "uniquenessRatio" << params.uniquenessRatio;
}
void read(const FileNode& fn)
{
FileNode n = fn["name"];
CV_Assert( n.isString() && strcmp(n.node->data.str.ptr, name_) == 0 );
params.minDisparity = (int)fn["minDisparity"];
params.numDisparities = (int)fn["numDisparities"];
params.SADWindowSize = (int)fn["blockSize"];
params.speckleWindowSize = (int)fn["speckleWindowSize"];
params.speckleRange = (int)fn["speckleRange"];
params.disp12MaxDiff = (int)fn["disp12MaxDiff"];
params.preFilterType = (int)fn["preFilterType"];
params.preFilterSize = (int)fn["preFilterSize"];
params.preFilterCap = (int)fn["preFilterCap"];
params.textureThreshold = (int)fn["textureThreshold"];
params.uniquenessRatio = (int)fn["uniquenessRatio"];
params.roi1 = params.roi2 = Rect();
}
StereoBMParams params;
Mat preFilteredImg0, preFilteredImg1, cost, dispbuf;
Mat slidingSumBuf;
static const char* name_;
};
#define add_param(n) \
obj.info()->addParam(obj, #n, obj.params.n)
CV_INIT_ALGORITHM(StereoBMImpl, "StereoMatcher.BM",
add_param(preFilterType);
add_param(preFilterSize);
add_param(preFilterCap);
add_param(SADWindowSize);
add_param(minDisparity);
add_param(numDisparities);
add_param(textureThreshold);
add_param(uniquenessRatio);
add_param(speckleRange);
add_param(speckleWindowSize);
add_param(disp12MaxDiff);
add_param(dispType));
const char* StereoBMImpl::name_ = "StereoMatcher.BM";
}
cv::Ptr<cv::StereoMatcher> cv::createStereoBM(int _numDisparities, int _SADWindowSize)
cv::Ptr<cv::StereoBM> cv::createStereoBM(int _numDisparities, int _SADWindowSize)
{
return new StereoBMImpl(_numDisparities, _SADWindowSize);
}