void FastDisparityCostVolumeEstimator::compute(gil::rgb8c_view_t &left,
gil::rgb8c_view_t &right,
DisparityCostVolume &cost_volume)
{
compute_impl(left, right, cost_volume);
return;
}
void
pcl::GrayStereoMatching::compute (unsigned char* ref_img, unsigned char* trg_img, int width, int height)
{
//Check that a suitable value of max_disp has been selected
if ( max_disp_ <= 0)
{
PCL_ERROR(
"[pcl::StereoMatching::compute] Error. A positive max_disparity value has not be correctly inserted. Aborting..\n"
);
return;
}
if ( (disp_map_ != NULL) && (width_ != width || height_ != height) )
{
delete [] disp_map_;
disp_map_ = NULL;
if ( disp_map_trg_ != NULL)
{
delete [] disp_map_trg_;
disp_map_trg_ = NULL;
}
if ( pp_ref_img_ != NULL)
{
delete [] pp_ref_img_;
delete [] pp_trg_img_;
pp_ref_img_ = NULL;
pp_trg_img_ = NULL;
}
}
if ( disp_map_ == NULL)
{
disp_map_ = new short int[width * height];
width_ = width;
height_ = height;
}
if ( is_lr_check_ && disp_map_trg_ == NULL)
{
disp_map_trg_ = new short int[width * height];
}
if ( !is_lr_check_ && disp_map_trg_ != NULL)
{
delete [] disp_map_trg_;
disp_map_trg_ = NULL;
}
if ( is_pre_proc_ && pp_ref_img_ == NULL)
{
pp_ref_img_ = new unsigned char[width_*height_];
pp_trg_img_ = new unsigned char[width_*height_];
}
if ( !is_pre_proc_ && pp_ref_img_ != NULL)
{
delete [] pp_ref_img_;
delete [] pp_trg_img_;
pp_ref_img_ = NULL;
pp_trg_img_ = NULL;
}
memset(disp_map_, 0, sizeof(short int)*height_*width_);
if ( is_pre_proc_)
{
preProcessing(ref_img, pp_ref_img_);
preProcessing(trg_img, pp_trg_img_);
}
if (is_lr_check_)
{
if ( is_pre_proc_)
{
imgFlip(pp_ref_img_);
imgFlip(pp_trg_img_);
compute_impl(pp_trg_img_, pp_ref_img_);
imgFlip(pp_ref_img_);
imgFlip(pp_trg_img_);
}
else
{
imgFlip(ref_img);
imgFlip(trg_img);
compute_impl(trg_img, ref_img);
imgFlip(ref_img);
imgFlip(trg_img);
}
for (int j = 0; j < height_; j++)
for (int i = 0; i < width_; i++)
disp_map_trg_[j * width_ + i] = disp_map_[j * width_ + width_ - 1 - i];
}
if ( is_pre_proc_)
compute_impl(pp_ref_img_, pp_trg_img_);
else
compute_impl(ref_img, trg_img);
if ( is_lr_check_)
{
leftRightCheck();
}
//at the end, x_offset (*16) needs to be added to all computed disparities,
//so that each fixed point value of the disparity map represents the true disparity value multiplied by 16
for (int j = 0; j < height_; j++)
for (int i = 0; i < width_; i++)
if ( disp_map_[j * width_ + i] > 0)
disp_map_[j * width_ + i] += static_cast<short int> (x_off_ * 16);
}