Changeset 56 in pacpussensors for trunk/StereoVisionDisparity/DisparityMap.cpp

Timestamp:

Jun 27, 2014, 2:16:15 PM (10 years ago)

Author:

phudelai

Message:

Vision component updated for StereoVision for PointGrey Flea3

File:

• trunk/StereoVisionDisparity/DisparityMap.cpp (modified) (5 diffs)

trunk/StereoVisionDisparity/DisparityMap.cpp

@@ -144 +144 @@
         THREAD_ALIVE = true;
         start();
+
+        emit minimumDisparityChanged(this->min_disp);
+        emit numberOfDisparityChanged(this->num_disp);
+        emit SADWindowSizeChanged(this->sbm_SADWindowSize);
+        emit textureTresholdChanged(this->sbm_textureThreshold); 
+        emit uniquenessRatioChanged(this->sbm_uniquenessRatio);
 }
 
@@ -577 +583 @@
 }
 
+
+////////////////////////////////////////////////////////////////////////////////
+void DisparityMap::setMinimumDisparity(int minimum_disp)
+{
+        this->min_disp = minimum_disp;
+
+        emit minimumDisparityChanged(this->min_disp);
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+void DisparityMap::setNumberOfDisparity(int numberOfDisparity)
+{
+        // Must be a multiple of 16
+        this->num_disp = numberOfDisparity & ~15;
+        if (this->num_disp < 16)
+                this->num_disp = 16;
+
+        emit numberOfDisparityChanged(this->num_disp);
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+void DisparityMap::setSADWindowSize(int SADWindowSize)
+{
+        // Must be an odd number
+        this->sbm_SADWindowSize = SADWindowSize | 1;
+        
+        emit SADWindowSizeChanged(this->sbm_SADWindowSize);
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+void DisparityMap::setTextureTreshold(int textureTreshold)
+{
+        this->sbm_textureThreshold = textureTreshold;
+
+        emit textureTresholdChanged(this->sbm_textureThreshold); 
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+void DisparityMap::setUniquenessRatio(int uniquenessRatio)
+{
+        this->sbm_uniquenessRatio = uniquenessRatio;
+
+        emit uniquenessRatioChanged(this->sbm_uniquenessRatio);
+}
+
+
 ////////////////////////////////////////////////////////////////////////////////
 ///     CalcDisparityMap
@@ -640 +696 @@
                         Right_img_gray = Right_img_exp;
                 }
+
+                /*cv::namedWindow("Disparity trackbar", CV_WINDOW_NORMAL);
+                cv::createTrackbar("sbm_preFilterCap", "Disparity trackbar", &sbm_preFilterCap, 63);
+                cv::createTrackbar("sbm_preFilterSize", "Disparity trackbar", &sbm_preFilterSize, 250);
+                cv::createTrackbar("sbm_SADWindowSize", "Disparity trackbar", &sbm_SADWindowSize, 250);
+                cv::createTrackbar("min_disp", "Disparity trackbar", &min_disp, 250);
+                cv::createTrackbar("num_disp", "Disparity trackbar", &num_disp, 250);
+                cv::createTrackbar("sbm_textureThreshold", "Disparity trackbar", &sbm_textureThreshold, 250);
+                cv::createTrackbar("sbm_uniquenessRatio", "Disparity trackbar", &sbm_uniquenessRatio, 250);
+                cv::createTrackbar("sbm_speckleWindowSize", "Disparity trackbar", &sbm_speckleWindowSize, 250);
+                cv::createTrackbar("sbm_speckleRange", "Disparity trackbar", &sbm_speckleRange, 250);
+                this->sbm_SADWindowSize = (this->sbm_SADWindowSize % 2 > 0) ? this->sbm_SADWindowSize : this->sbm_SADWindowSize + 1;
+                this->num_disp = (this->num_disp % 16 == 0) ? this->num_disp : this->num_disp - (this->num_disp % 16);*/
 
                 // Configuration
@@ -666 +735 @@
                                                                                                                                         // the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is 
                                                                                                                                         // good enough.
-                
+
                 // Calculate the disparity image (16S = scaled by 16, must be divided by 16; 32F = original value)
                 sbm(Left_img_gray, Right_img_gray, Disp_map_exp, CV_16S);
@@ -701 +770 @@
                 sgbm.disp12MaxDiff = this->sgbm_disp12MaxDiff;                          // Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to 
                                                                                                                                         // a non-positive value to disable the check.
-                sgbm.fullDP = type == SGBM;                                                     // Set it to true to run the full-scale two-pass dynamic programming algorithm. 
+                sgbm.fullDP = type == SGBM;                                                                     // Set it to true to run the full-scale two-pass dynamic programming algorithm. 
                                                                                                                                         // It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo 
                                                                                                                                         // and huge for HD-size pictures.