CvMat * createDisparityMapGC(CvArr * img1, CvArr * img2,
int numberOfDisparities, int maxIters)
{
CvSize imageSize = cvGetSize(img1);
// image_left and image_right are the input 8-bit single-channel images
// from the left and the right cameras, respectively
// CvSize size = cvGetSize(image_left);
CvMat* disparity_left = cvCreateMat( imageSize.height, imageSize.width,
CV_16S );
CvMat* disparity_right = cvCreateMat( imageSize.height, imageSize.width,
CV_16S );
// (int numberOfDisparities, int maxIters)
CvStereoGCState* state = cvCreateStereoGCState( 16, // numberOfDisparities
2 //maxIters
);
cvFindStereoCorrespondenceGC( img1, img2,
disparity_left, disparity_right, state, 0 );
cvReleaseStereoGCState( &state );
CvMat* disparity_left_visual =
cvCreateMat( imageSize.height, imageSize.width, CV_8U );
// because the values in the left disparity images are usually negative
cvConvertScale( disparity_left, disparity_left_visual, -16 );
// cvSave( "disparity.pgm", disparity_left_visual );
//cvSaveImage( "disparity.pgm", disparity_left_visual );
return disparity_left_visual;
}
bool StereoCorrespondenceCV::update()
{
WriteGuard<ReadWritePipe<FloatImage> > wguard(m_wpipe);
FloatImage limg, rimg;
if ( m_lrpipe->read(&limg) && m_rrpipe->read(&rimg) )
{
CvMat *limg_c = limg.cpuMem();
CvMat *rimg_c = rimg.cpuMem();
CvMat *limg8u_c = m_limg8U.getImage(cvGetSize(limg_c));
CvMat *rimg8u_c = m_rimg8U.getImage(cvGetSize(rimg_c));
cvConvertScale(limg_c, limg8u_c, 255.0);
cvConvertScale(rimg_c, rimg8u_c, 255.0);
FloatImage output = FloatImage::CreateCPU(
Dim::minDim(limg.dim(), rimg.dim()));
CvMat *out_c = output.cpuMem();
CudaBenchmarker bMarker;
bMarker.begin();
if ( m_mode == LocalMatching )
cvFindStereoCorrespondenceBM(limg8u_c, rimg8u_c, out_c, m_bmState);
else
cvFindStereoCorrespondenceGC(limg8u_c, rimg8u_c, out_c, NULL,
m_gcState);
bMarker.end();
m_mark.addProbe(bMarker.elapsedTime());
wguard.write(output);
FloatImageSinkPol::sink(limg);
FloatImageSinkPol::sink(rimg);
}
return wguard.wasWrite();
}
