StereoCorrespondenceCV::~StereoCorrespondenceCV()
{
if ( m_mode == LocalMatching )
cvReleaseStereoBMState(&m_bmState);
else
cvReleaseStereoGCState(&m_gcState);
}
int StereoVision::stereoProcess(CvArr* imageSrcLeft,CvArr* imageSrcRight) {
if(!calibrationDone) return RESULT_FAIL;
if(!imagesRectified[0]) imagesRectified[0] = cvCreateMat( imageSize.height,imageSize.width, CV_8U );
if(!imagesRectified[1]) imagesRectified[1] = cvCreateMat( imageSize.height,imageSize.width, CV_8U );
if(!imageDepth) imageDepth = cvCreateMat( imageSize.height,imageSize.width, CV_16S );
if(!imageDepthNormalized) imageDepthNormalized = cvCreateMat( imageSize.height,imageSize.width, CV_8U );
// 2013.4.29
// CZT
//
if(!imageDepthNormalized_c1) imageDepthNormalized_c1 = cvCreateMat( 512, 512, CV_8U );
/*if(!imagesRectified[0]) imagesRectified[0] = cvCreateMat( 512, 512, CV_8U );
if(!imagesRectified[1]) imagesRectified[1] = cvCreateMat( 512, 512, CV_8U );
if(!imageDepth) imageDepth = cvCreateMat( 512, 512, CV_16S );
if(!imageDepthNormalized) imageDepthNormalized = cvCreateMat( 512, 512, CV_8U );*/
//rectify images
cvRemap( imageSrcLeft, imagesRectified[0] , mx1, my1 );
cvRemap( imageSrcRight, imagesRectified[1] , mx2, my2 );
CvStereoBMState *BMState = cvCreateStereoBMState();
BMState->preFilterSize=41;
BMState->preFilterCap=31;
BMState->SADWindowSize=41;
BMState->minDisparity=-64;
BMState->numberOfDisparities=128;
BMState->textureThreshold=10;
BMState->uniquenessRatio=15;
cvFindStereoCorrespondenceBM( imagesRectified[0], imagesRectified[1], imageDepth, BMState);
cvNormalize( imageDepth, imageDepthNormalized, 0, 255, CV_MINMAX );
cvReleaseStereoBMState(&BMState);
// 2013.4.29
// CZT
//
cvResize(imageDepthNormalized, imageDepthNormalized_c1);
cvFlip(imageDepthNormalized_c1, imageDepthNormalized_c1, 1); // Flip, y-axis
return RESULT_OK;
}
CvMat * createDisparityMapBM(CvArr * img1, CvArr * img2,
int numberOfDisparities, int maxIters)
{
CvSize imageSize = cvGetSize(img1);
CvMat* disp = cvCreateMat( imageSize.height,
imageSize.width, CV_16S );
//Setup for finding stereo corrrespondences
CvStereoBMState *BMState = cvCreateStereoBMState();
assert(BMState != 0);
BMState->preFilterSize=41;
BMState->preFilterCap=31;
// window size
BMState->SADWindowSize=41;
// depth range
// BMState->minDisparity=-64;
// BMState->numberOfDisparities=128;
BMState->minDisparity=-16;
BMState->numberOfDisparities=32;
BMState->textureThreshold=10;
BMState->uniquenessRatio=15;
if( img1 && img2 )
{
// CvMat part;
// void cvRemap( const CvArr* src, CvArr* dst,
// const CvArr* mapx, const CvArr* mapy)
// FUNCTION: dst(x,y)<-src(mapx(x,y),mapy(x,y))
// cvRemap( img1, img1r, mx1, my1 );
// cvRemap( img2, img2r, mx2, my2 );
// if( !isVerticalStereo || useUncalibrated != 0 )
{
// When the stereo camera is oriented vertically,
// useUncalibrated==0 does not transpose the
// image, so the epipolar lines in the rectified
// images are vertical. Stereo correspondence
// function does not support such a case.
// cvFindStereoCorrespondenceBM( img1r, img2r, disp,
// BMState);
cvFindStereoCorrespondenceBM( img1, img2, disp,
BMState);
// cvNormalize( disp, vdisp, 0, 256, CV_MINMAX );
}
cvReleaseStereoBMState(&BMState);
CvMat * disparity_left_visual =
cvCreateMat( imageSize.height, imageSize.width, CV_8U );
// because the values in the left disparity images are
// usually negative
cvConvertScale( disp, disparity_left_visual, 1 );
// cvSave( "disparity.pgm", disparity_left_visual );
return disparity_left_visual;
//cvSaveImage( ".out/disparity.pgm", disparity_left_visual );
}else {return 0;}
}
