void PushbroomStereo::ProcessImages2(InputArray _leftImage, InputArray _rightImage, std::vector<Point3f> *pointVector3d, std::vector<Point3i> *pointVector2d, std::vector<uchar> *pointColors)
{
Mat leftImage = _leftImage.getMat();
Mat rightImage = _rightImage.getMat();
// make sure that the inputs are of the right type
CV_Assert(leftImage.type() == CV_8UC1 && rightImage.type() == CV_8UC1);
//Mat remapped_left(state.mapxL.rows, state.mapxL.cols, leftImage.depth());
//Mat remapped_right(state.mapxR.rows, state.mapxR.cols, rightImage.depth());
//INTEREST_OP步骤，拉普拉斯变换
Mat laplacian_left(leftImage.rows, leftImage.cols, leftImage.depth());
Mat laplacian_right(rightImage.rows, rightImage.cols, rightImage.depth());
Laplacian(leftImage,laplacian_left, -1, 3, 1, 0, BORDER_DEFAULT);
Laplacian(rightImage,laplacian_right, -1, 3, 1, 0, BORDER_DEFAULT);
//imshow("Laplac_L", laplacian_left);
//imshow("Laplac_R", laplacian_right);
//while( 1 )
//{
// waitKey( 100 );
//}
RunStereoPushbroomStereo2(leftImage, rightImage,laplacian_left,laplacian_right, pointVector3d,pointVector2d,pointColors);
}
/**
* Runs the fast, single-disparity stereo algorithm. Returns a
* vector of points where it found disparity matches in the image.
*
* @param _leftImage left camera image as a CV_8UC1
* @param _rightImage right camera image as a CV_8UC1
* @param hitVector a cv::vector that we will populate with cv::Point()s
* @param state set of configuration parameters for the function.
* You can change these on each run of the function if you'd like.
*/
void PushbroomStereo::ProcessImages(Mat leftImage, Mat rightImage, cv::vector<Point3f> *pointVector3d, cv::vector<uchar> *pointColors, cv::vector<Point3i> *pointVector2d, PushbroomStereoState state) {
//cout << "[main] entering process images" << endl;
// make sure that the inputs are of the right type
CV_Assert(leftImage.type() == CV_8UC1 && rightImage.type() == CV_8UC1);
// we want to use the sum-of-absolute-differences (SAD) algorithm
// on a single disparity
// split things up so we can parallelize
int rows = leftImage.rows;
StopWatchInterface *timer;
sdkCreateTimer( &timer );
sdkResetTimer( &timer );
sdkStartTimer( &timer );
// first parallelize remaping
// we split these arrays up and send them into each
// thread so at the end, each thread has written to the
// appropriate spot in the array
Mat remapped_left(state.mapxL.rows, state.mapxL.cols, leftImage.depth());
Mat remapped_right(state.mapxR.rows, state.mapxR.cols, rightImage.depth());
remap( leftImage, remapped_left, state.mapxL, Mat(), INTER_NEAREST);
remap( rightImage, remapped_right, state.mapxR, Mat(), INTER_NEAREST);
sdkStopTimer( &timer );
//printf("remap timer: %.2f ms \n", sdkGetTimerValue( &timer) );
sdkResetTimer( &timer );
sdkStartTimer( &timer );
Mat laplacian_left(remapped_left.rows, remapped_left.cols, remapped_left.depth());
Mat laplacian_right(remapped_right.rows, remapped_right.cols, remapped_right.depth());
// apply interest operator
Laplacian( remapped_left, laplacian_left, -1, 3, 1, 0, BORDER_DEFAULT);
Laplacian( remapped_right, laplacian_right, -1, 3, 1, 0, BORDER_DEFAULT);
sdkStopTimer( &timer );
//printf("laplacian timer: %.2f ms \n", sdkGetTimerValue( &timer) );
sdkResetTimer( &timer );
sdkStartTimer( &timer );
cv::vector<Point3f> pointVector3dArray;
cv::vector<Point3i> pointVector2dArray;
cv::vector<uchar> pointColorsArray;
//cout << "[main] firing worker threads..." << endl;
if (state.lastValidPixelRow > 0) {
// crop image to be only include valid pixels
rows = state.lastValidPixelRow;
}
int rows_round = RoundUp(rows, state.blockSize);
RunStereoPushbroomStereo( remapped_left, remapped_right, laplacian_left, laplacian_right,
pointVector3d, pointVector2d, pointColors,
0, rows_round - 1, state );
sdkStopTimer( &timer );
//printf("RunStereo timer: %.2f ms \n", sdkGetTimerValue( &timer) );
int numPoints = 0;
// compute the required size of our return vector
// this prevents multiple memory allocations
numPoints = pointVector3dArray.size();
pointVector3d->reserve(numPoints);
pointColors->reserve(numPoints);
pointVector3d->insert( pointVector3d->end(), pointVector3dArray.begin(), pointVector3dArray.end() );
pointColors->insert( pointColors->end(), pointColorsArray.begin(), pointColorsArray.end() );
if (state.show_display)
{
pointVector2d->insert( pointVector2d->end(), pointVector2dArray.begin(), pointVector2dArray.end() );
}
}
