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124 lines
5.0 KiB
C++
124 lines
5.0 KiB
C++
//M*//////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/calib3d/calib3d_c.h"
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CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities )
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{
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CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) );
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if( !state )
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return 0;
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state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
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state->preFilterSize = 9;
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state->preFilterCap = 31;
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state->SADWindowSize = 15;
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state->minDisparity = 0;
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state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64;
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state->textureThreshold = 10;
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state->uniquenessRatio = 15;
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state->speckleRange = state->speckleWindowSize = 0;
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state->trySmallerWindows = 0;
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state->roi1 = state->roi2 = cvRect(0,0,0,0);
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state->disp12MaxDiff = -1;
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state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf =
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state->disp = state->cost = 0;
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return state;
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}
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void cvReleaseStereoBMState( CvStereoBMState** state )
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{
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if( !state )
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CV_Error( CV_StsNullPtr, "" );
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if( !*state )
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return;
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cvReleaseMat( &(*state)->preFilteredImg0 );
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cvReleaseMat( &(*state)->preFilteredImg1 );
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cvReleaseMat( &(*state)->slidingSumBuf );
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cvReleaseMat( &(*state)->disp );
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cvReleaseMat( &(*state)->cost );
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cvFree( state );
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}
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void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
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CvArr* disparr, CvStereoBMState* state )
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{
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cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr);
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const cv::Mat disp = cv::cvarrToMat(disparr);
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CV_Assert( state != 0 );
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cv::Ptr<cv::StereoBM> sm = cv::StereoBM::create(state->numberOfDisparities,
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state->SADWindowSize);
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sm->setPreFilterType(state->preFilterType);
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sm->setPreFilterSize(state->preFilterSize);
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sm->setPreFilterCap(state->preFilterCap);
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sm->setBlockSize(state->SADWindowSize);
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sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64);
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sm->setTextureThreshold(state->textureThreshold);
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sm->setUniquenessRatio(state->uniquenessRatio);
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sm->setSpeckleRange(state->speckleRange);
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sm->setSpeckleWindowSize(state->speckleWindowSize);
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sm->setDisp12MaxDiff(state->disp12MaxDiff);
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sm->compute(left, right, disp);
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}
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CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
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int numberOfDisparities, int SADWindowSize )
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{
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return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity,
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numberOfDisparities, SADWindowSize );
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}
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void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
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int numberOfDisparities, int disp12MaxDiff )
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{
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cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
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cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
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}
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