1//M*////////////////////////////////////////////////////////////////////////////////////// 2// 3// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4// 5// By downloading, copying, installing or using the software you agree to this license. 6// If you do not agree to this license, do not download, install, 7// copy or use the software. 8// 9// 10// License Agreement 11// For Open Source Computer Vision Library 12// 13// Copyright (C) 2000, Intel Corporation, all rights reserved. 14// Copyright (C) 2013, OpenCV Foundation, all rights reserved. 15// Third party copyrights are property of their respective owners. 16// 17// Redistribution and use in source and binary forms, with or without modification, 18// are permitted provided that the following conditions are met: 19// 20// * Redistribution's of source code must retain the above copyright notice, 21// this list of conditions and the following disclaimer. 22// 23// * Redistribution's in binary form must reproduce the above copyright notice, 24// this list of conditions and the following disclaimer in the documentation 25// and/or other materials provided with the distribution. 26// 27// * The name of the copyright holders may not be used to endorse or promote products 28// derived from this software without specific prior written permission. 29// 30// This software is provided by the copyright holders and contributors "as is" and 31// any express or implied warranties, including, but not limited to, the implied 32// warranties of merchantability and fitness for a particular purpose are disclaimed. 33// In no event shall the Intel Corporation or contributors be liable for any direct, 34// indirect, incidental, special, exemplary, or consequential damages 35// (including, but not limited to, procurement of substitute goods or services; 36// loss of use, data, or profits; or business interruption) however caused 37// and on any theory of liability, whether in contract, strict liability, 38// or tort (including negligence or otherwise) arising in any way out of 39// the use of this software, even if advised of the possibility of such damage. 40// 41//M*/ 42 43#include "precomp.hpp" 44#include "opencv2/calib3d/calib3d_c.h" 45 46CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities ) 47{ 48 CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) ); 49 if( !state ) 50 return 0; 51 52 state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE; 53 state->preFilterSize = 9; 54 state->preFilterCap = 31; 55 state->SADWindowSize = 15; 56 state->minDisparity = 0; 57 state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64; 58 state->textureThreshold = 10; 59 state->uniquenessRatio = 15; 60 state->speckleRange = state->speckleWindowSize = 0; 61 state->trySmallerWindows = 0; 62 state->roi1 = state->roi2 = cvRect(0,0,0,0); 63 state->disp12MaxDiff = -1; 64 65 state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf = 66 state->disp = state->cost = 0; 67 68 return state; 69} 70 71void cvReleaseStereoBMState( CvStereoBMState** state ) 72{ 73 if( !state ) 74 CV_Error( CV_StsNullPtr, "" ); 75 76 if( !*state ) 77 return; 78 79 cvReleaseMat( &(*state)->preFilteredImg0 ); 80 cvReleaseMat( &(*state)->preFilteredImg1 ); 81 cvReleaseMat( &(*state)->slidingSumBuf ); 82 cvReleaseMat( &(*state)->disp ); 83 cvReleaseMat( &(*state)->cost ); 84 cvFree( state ); 85} 86 87void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr, 88 CvArr* disparr, CvStereoBMState* state ) 89{ 90 cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr); 91 const cv::Mat disp = cv::cvarrToMat(disparr); 92 93 CV_Assert( state != 0 ); 94 95 cv::Ptr<cv::StereoBM> sm = cv::StereoBM::create(state->numberOfDisparities, 96 state->SADWindowSize); 97 sm->setPreFilterType(state->preFilterType); 98 sm->setPreFilterSize(state->preFilterSize); 99 sm->setPreFilterCap(state->preFilterCap); 100 sm->setBlockSize(state->SADWindowSize); 101 sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64); 102 sm->setTextureThreshold(state->textureThreshold); 103 sm->setUniquenessRatio(state->uniquenessRatio); 104 sm->setSpeckleRange(state->speckleRange); 105 sm->setSpeckleWindowSize(state->speckleWindowSize); 106 sm->setDisp12MaxDiff(state->disp12MaxDiff); 107 108 sm->compute(left, right, disp); 109} 110 111CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity, 112 int numberOfDisparities, int SADWindowSize ) 113{ 114 return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity, 115 numberOfDisparities, SADWindowSize ); 116} 117 118void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity, 119 int numberOfDisparities, int disp12MaxDiff ) 120{ 121 cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost); 122 cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff ); 123} 124