| 1 | /***************************************************************************
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| 2 | *
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| 3 | * Copyright 2000 by David Demirdjian. All rights reserved.
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| 4 | *
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| 5 | * Developed by David Demirdjian
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| 6 | *
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| 7 | * Permission to use, copy, or modify this software and its documentation
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| 8 | * for educational and research purposes only and without fee is hereby
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| 9 | * granted, provided that this copyright notice and the original authors's
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| 10 | * names appear on all copies and supporting documentation. If individual
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| 11 | * files are separated from this distribution directory structure, this
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| 12 | * copyright notice must be included. For any other uses of this software,
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| 13 | * in original or modified form, including but not limited to distribution
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| 14 | * in whole or in part, specific prior permission must be obtained from
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| 15 | * MIT. These programs shall not be used, rewritten, or adapted as the
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| 16 | * basis of a commercial software or hardware product without first
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| 17 | * obtaining appropriate licenses from David Demirdjian. The author makes
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| 18 | * no representations about the suitability of this software for any purpose.
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| 19 | * It is provided "as is" without express or implied warranty.
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| 20 | *
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| 21 | **************************************************************************/
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| 22 | #ifndef _STEREOBUFFER_H
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| 23 | #define _STEREOBUFFER_H
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| 24 |
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| 25 |
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| 26 | // ********************************************************************
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| 27 | // ********************************************************************
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| 28 | // StereoBuffer: class containing all the buffers necessary for stereo
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| 29 | // computation (at a fixed scale)
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| 30 | class StereoBuffer {
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| 31 | public:
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| 32 | StereoBuffer();
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| 33 | ~StereoBuffer();
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| 34 |
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| 35 | void setSize(int width, int height, int maxNbDepth);
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| 36 | void alloc();
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| 37 | void deAlloc();
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| 38 | void allocTempBuffer16();
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| 39 | void deAllocTempBuffer16();
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| 40 |
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| 41 | inline void filterSAD(int maskX, int maskY,
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| 42 | unsigned char* ptBuff, unsigned short* ptBuff16,
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| 43 | int backStep, int subImageSize, int offset);
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| 44 |
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| 45 | int width, height, maxNbDepth;
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| 46 |
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| 47 | // minimum disparity scores
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| 48 | unsigned char* getCorrScores() const;
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| 49 | // second minimum disparity scores
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| 50 | unsigned char* getCorrScores_Sec() const;
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| 51 |
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| 52 | // buffers used for 8-bits use
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| 53 | int buffStep;
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| 54 | unsigned char** buff;
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| 55 | unsigned char* bigBuffer, *bigBuffer_origin;
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| 56 | unsigned short **buff16;
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| 57 | unsigned short *bigBuffer16, *bigBuffer16_origin; // buffers used for 16-bits use
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| 58 |
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| 59 | // corr. scores associated with depth
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| 60 | unsigned char* corrScore, *corrScoreSec;
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| 61 | unsigned char* corrScore_origin, *corrScoreSec_origin; // corr. scores associated with depth
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| 62 |
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| 63 | // stereo grow
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| 64 | unsigned char *imDepth_ref, *imDepth_ref_origin;
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| 65 | unsigned short *Depth16, *Depth16_origin;
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| 66 | unsigned short *buffTemp, *buffTemp_origin; // intermediate buffer used for 'sum_row' filtering (16-bits)
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| 67 | unsigned char* count_non_null_pixels, *count_non_null_pixels_origin;
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| 68 |
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| 69 | };
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| 70 |
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| 71 | #include "stereobuffer.inl"
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| 72 |
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| 73 | #endif |
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