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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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133
modules/calib3d/src/stereosgbm.cpp
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@@ -75,13 +75,13 @@ struct StereoSGBMParams
uniquenessRatio = 0;
speckleWindowSize = 0;
speckleRange = 0;
fullDP = false;
mode = StereoSGBM::MODE_SGBM;
}
StereoSGBMParams( int _minDisparity, int _numDisparities, int _SADWindowSize,
int _P1, int _P2, int _disp12MaxDiff, int _preFilterCap,
int _uniquenessRatio, int _speckleWindowSize, int _speckleRange,
bool _fullDP )
int _mode )
{
minDisparity = _minDisparity;
numDisparities = _numDisparities;
@@ -93,7 +93,7 @@ struct StereoSGBMParams
uniquenessRatio = _uniquenessRatio;
speckleWindowSize = _speckleWindowSize;
speckleRange = _speckleRange;
fullDP = _fullDP;
mode = _mode;
}
int minDisparity;
@@ -106,7 +106,7 @@ struct StereoSGBMParams
int speckleWindowSize;
int speckleRange;
int disp12MaxDiff;
bool fullDP;
int mode;
};
/*
@@ -328,8 +328,8 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
#endif
const int ALIGN = 16;
const int DISP_SHIFT = StereoSGBM::DISP_SHIFT;
const int DISP_SCALE = StereoSGBM::DISP_SCALE;
const int DISP_SHIFT = StereoMatcher::DISP_SHIFT;
const int DISP_SCALE = (1 << DISP_SHIFT);
const CostType MAX_COST = SHRT_MAX;
int minD = params.minDisparity, maxD = minD + params.numDisparities;
@@ -344,7 +344,8 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
int D = maxD - minD, width1 = maxX1 - minX1;
int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
int SW2 = SADWindowSize.width/2, SH2 = SADWindowSize.height/2;
int npasses = params.fullDP ? 2 : 1;
bool fullDP = params.mode == StereoSGBM::MODE_HH;
int npasses = fullDP ? 2 : 1;
const int TAB_OFS = 256*4, TAB_SIZE = 256 + TAB_OFS*2;
PixType clipTab[TAB_SIZE];
@@ -373,7 +374,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
// we keep pixel difference cost (C) and the summary cost over NR directions (S).
// we also keep all the partial costs for the previous line L_r(x,d) and also min_k L_r(x, k)
size_t costBufSize = width1*D;
size_t CSBufSize = costBufSize*(params.fullDP ? height : 1);
size_t CSBufSize = costBufSize*(fullDP ? height : 1);
size_t minLrSize = (width1 + LrBorder*2)*NR2, LrSize = minLrSize*D2;
int hsumBufNRows = SH2*2 + 2;
size_t totalBufSize = (LrSize + minLrSize)*NLR*sizeof(CostType) + // minLr[] and Lr[]
@@ -434,8 +435,8 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
{
int x, d;
DispType* disp1ptr = disp1.ptr<DispType>(y);
CostType* C = Cbuf + (!params.fullDP ? 0 : y*costBufSize);
CostType* S = Sbuf + (!params.fullDP ? 0 : y*costBufSize);
CostType* C = Cbuf + (!fullDP ? 0 : y*costBufSize);
CostType* S = Sbuf + (!fullDP ? 0 : y*costBufSize);
if( pass == 1 ) // compute C on the first pass, and reuse it on the second pass, if any.
{
@@ -460,7 +461,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
if( y > 0 )
{
const CostType* hsumSub = hsumBuf + (std::max(y - SH2 - 1, 0) % hsumBufNRows)*costBufSize;
const CostType* Cprev = !params.fullDP || y == 0 ? C : C - costBufSize;
const CostType* Cprev = !fullDP || y == 0 ? C : C - costBufSize;
for( x = D; x < width1*D; x += D )
{
@@ -828,8 +829,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
}
}
class StereoSGBMImpl : public StereoMatcher
class StereoSGBMImpl : public StereoSGBM
{
public:
StereoSGBMImpl()
@@ -840,12 +840,12 @@ public:
StereoSGBMImpl( int _minDisparity, int _numDisparities, int _SADWindowSize,
int _P1, int _P2, int _disp12MaxDiff, int _preFilterCap,
int _uniquenessRatio, int _speckleWindowSize, int _speckleRange,
bool _fullDP )
int _mode )
{
params = StereoSGBMParams( _minDisparity, _numDisparities, _SADWindowSize,
_P1, _P2, _disp12MaxDiff, _preFilterCap,
_uniquenessRatio, _speckleWindowSize, _speckleRange,
_fullDP );
_mode );
}
void compute( InputArray leftarr, InputArray rightarr, OutputArray disparr )
@@ -861,47 +861,98 @@ public:
medianBlur(disp, disp, 3);
if( params.speckleWindowSize > 0 )
filterSpeckles(disp, (params.minDisparity - 1)*STEREO_DISP_SCALE, params.speckleWindowSize,
STEREO_DISP_SCALE*params.speckleRange, buffer);
filterSpeckles(disp, (params.minDisparity - 1)*StereoMatcher::DISP_SCALE, params.speckleWindowSize,
StereoMatcher::DISP_SCALE*params.speckleRange, buffer);
}
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 getPreFilterCap() const { return params.preFilterCap; }
void setPreFilterCap(int preFilterCap) { params.preFilterCap = preFilterCap; }
int getUniquenessRatio() const { return params.uniquenessRatio; }
void setUniquenessRatio(int uniquenessRatio) { params.uniquenessRatio = uniquenessRatio; }
int getP1() const { return params.P1; }
void setP1(int P1) { params.P1 = P1; }
int getP2() const { return params.P2; }
void setP2(int P2) { params.P2 = P2; }
int getMode() const { return params.mode; }
void setMode(int mode) { params.mode = mode; }
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
<< "preFilterCap" << params.preFilterCap
<< "uniquenessRatio" << params.uniquenessRatio
<< "P1" << params.P1
<< "P2" << params.P2
<< "mode" << params.mode;
}
void read(const FileNode& fn)
{
CV_Assert( (std::string)fn["name"] == std::string(name_) );
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.preFilterCap = (int)fn["preFilterCap"];
params.uniquenessRatio = (int)fn["uniquenessRatio"];
params.P1 = (int)fn["P1"];
params.P2 = (int)fn["P2"];
params.mode = (int)fn["mode"];
}
StereoSGBMParams params;
Mat buffer;
static const char* name_;
};
const char* StereoSGBMImpl::name_ = "StereoMatcher.SGBM";
Ptr<StereoMatcher> createStereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
int P1, int P2, int disp12MaxDiff,
int preFilterCap, int uniquenessRatio,
int speckleWindowSize, int speckleRange,
bool fullDP)
Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
int P1, int P2, int disp12MaxDiff,
int preFilterCap, int uniquenessRatio,
int speckleWindowSize, int speckleRange,
int mode)
{
return new StereoSGBMImpl(minDisparity, numDisparities, SADWindowSize,
P1, P2, disp12MaxDiff,
preFilterCap, uniquenessRatio,
speckleWindowSize, speckleRange,
fullDP);
mode);
}
#define add_param(n) \
obj.info()->addParam(obj, #n, obj.params.n)
CV_INIT_ALGORITHM(StereoSGBMImpl, "StereoMatcher.SGBM",
add_param(minDisparity);
add_param(numDisparities);
add_param(SADWindowSize);
add_param(preFilterCap);
add_param(uniquenessRatio);
add_param(P1);
add_param(P2);
add_param(speckleWindowSize);
add_param(speckleRange);
add_param(disp12MaxDiff);
add_param(fullDP));
Rect getValidDisparityROI( Rect roi1, Rect roi2,
int minDisparity,
int numberOfDisparities,