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include/densematcher.h
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/*!
* \brief Stereo image dense DenseMatcher
* \details This class is used to demonstrate a number of section commands.
* \author Andrey Kudryavtsev
* \version 0.1
* \date 03/06/2016
*/
#ifndef DenseMatcher_H
#define DenseMatcher_H
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d.hpp>
using namespace std;
class DenseMatcher
{
public:
DenseMatcher();
DenseMatcher(int method);
~DenseMatcher();
void init(cv::Mat * lftIm, cv::Mat * rgtIm) { _lftIm = lftIm; _rgtIm = rgtIm;}
void setMethod( int method ) { _method = method; }
void setBounds( int lowerBound, int upperBound) {_params.lowerBound = lowerBound; _params.upperBound = upperBound;}
void setBlockSize( int blockSize) {_params.blockSize = blockSize;}
void calculateDisparityMap();
void plotDisparityMap();
void filterDisparity(int newVal, int maxSpeckleSize, int maxDiff);
void plotDisparityFiltered();
cv::Mat getDisparityToDisplay() const;
enum methods{
MODE_HH = cv::StereoSGBM::MODE_HH, ///< Perform linear interpolation on the table
MODE_SGBM = cv::StereoSGBM::MODE_SGBM, ///< Perform parabolic interpolation on the table
MODE_SGBM_3WAY = cv::StereoSGBM::MODE_SGBM_3WAY ///< Perform parabolic interpolation on the table
};
bool isInitialized() { return ! (_lftIm == NULL || _rgtIm == NULL) && ! _lftIm->empty() && ! _rgtIm->empty() ; } // _lftIm and _rgtIm are initialized
bool isDisparityEmpty() { return _disp.empty(); }
bool isDisparityFiltered() { return _dispFiltered.empty(); }
cv::Mat _dispFiltered;
cv::Mat _disp;
cv::Mat _dispValues;
cv::Mat getDensePoint();
private:
int _method = MODE_SGBM; // Default method
cv::Mat * _lftIm = NULL;
cv::Mat * _rgtIm = NULL;
struct Params{
int lowerBound = -1;
int upperBound = 2;
int blockSize = 9;
};
Params _params;
struct ParamsFilter{
int newVal = 0; // The disparity value used to paint-off the speckles
int maxSpeckleSize = 260; // The maximum speckle size to consider it a speckle. Larger blobs are not affected by the algorithm
int maxDiff = 10; // Maximum difference between neighbor disparity pixels to put them into the same blob. Note that since StereoBM,
//StereoSGBM and may be other algorithms return a fixed-point disparity map, where disparity values are multiplied by 16,
//this scale factor should be taken into account when specifying this parameter value.
};
ParamsFilter _paramsFilter;
};
/**************************
*
* CONTROL PART
*
* */
#endif // DenseMatcher_H
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