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converter stereo correspondence algorithms to the new style

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This commit is contained in:
Vadim Pisarevsky
2013-03-22 01:05:30 +04:00
parent bbae05413d
commit 7661625c39
8 changed files with 287 additions and 248 deletions
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90
modules/calib3d/src/compat_stereo.cpp
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@@ -124,93 +124,3 @@ void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
}
namespace cv
{
StereoBM::StereoBM()
{ init(BASIC_PRESET); }
StereoBM::StereoBM(int _preset, int _ndisparities, int _SADWindowSize)
{ init(_preset, _ndisparities, _SADWindowSize); }
void StereoBM::init(int _preset, int _ndisparities, int _SADWindowSize)
{
state = cvCreateStereoBMState(_preset, _ndisparities);
state->SADWindowSize = _SADWindowSize;
}
void StereoBM::operator()( InputArray _left, InputArray _right,
OutputArray _disparity, int disptype )
{
Mat left = _left.getMat(), right = _right.getMat();
CV_Assert( disptype == CV_16S || disptype == CV_32F );
_disparity.create(left.size(), disptype);
Mat disp = _disparity.getMat();
CvMat left_c = left, right_c = right, disp_c = disp;
cvFindStereoCorrespondenceBM(&left_c, &right_c, &disp_c, state);
}
StereoSGBM::StereoSGBM()
{
minDisparity = numberOfDisparities = 0;
SADWindowSize = 0;
P1 = P2 = 0;
disp12MaxDiff = 0;
preFilterCap = 0;
uniquenessRatio = 0;
speckleWindowSize = 0;
speckleRange = 0;
fullDP = false;
sm = createStereoSGBM(0, 0, 0);
}
StereoSGBM::StereoSGBM( int _minDisparity, int _numDisparities, int _SADWindowSize,
int _P1, int _P2, int _disp12MaxDiff, int _preFilterCap,
int _uniquenessRatio, int _speckleWindowSize, int _speckleRange,
bool _fullDP )
{
minDisparity = _minDisparity;
numberOfDisparities = _numDisparities;
SADWindowSize = _SADWindowSize;
P1 = _P1;
P2 = _P2;
disp12MaxDiff = _disp12MaxDiff;
preFilterCap = _preFilterCap;
uniquenessRatio = _uniquenessRatio;
speckleWindowSize = _speckleWindowSize;
speckleRange = _speckleRange;
fullDP = _fullDP;
sm = createStereoSGBM(0, 0, 0);
}
StereoSGBM::~StereoSGBM()
{
}
void StereoSGBM::operator ()( InputArray _left, InputArray _right,
OutputArray _disp )
{
sm->set("minDisparity", minDisparity);
sm->set("numDisparities", numberOfDisparities);
sm->set("SADWindowSize", SADWindowSize);
sm->set("P1", P1);
sm->set("P2", P2);
sm->set("disp12MaxDiff", disp12MaxDiff);
sm->set("preFilterCap", preFilterCap);
sm->set("uniquenessRatio", uniquenessRatio);
sm->set("speckleWindowSize", speckleWindowSize);
sm->set("speckleRange", speckleRange);
sm->set("fullDP", fullDP);
sm->compute(_left, _right, _disp);
}
}