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opencv: disparity: Ported to OpenCV version 3.1
'METHOD_VAR', 'METHOD_GC' is removed because there aren't equivalent functions in new OpenCV versions. 'img_right_as_cvMat_rgb', 'img_left_as_cvMat_rgb' and 'depth_map_as_cvMat2' variables is removed because these aren't used. cvarrToMat() is added because it is compatible with all versions of Opencv and using the class Mat constructor is eliminated, because is deprecated in 3.X versions. The use 'using namespace cv' because is called some functions many times. This keeps compatibility with 2.4. https://bugzilla.gnome.org/show_bug.cgi?id=760473
This commit is contained in:
Vanessa Chipirras Navalon
Luis de Bethencourt
parent
4b60b47075
commit
037f54d644
2 changed files with 101 additions and 133 deletions
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@ -119,12 +119,16 @@ gst-launch-1.0 multifilesrc location=~/im3.png ! pngdec ! videoconvert ! di
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#include <config.h>
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#endif
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#include <opencv2/contrib/contrib.hpp>
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#include "gstdisparity.h"
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#include <opencv2/imgproc/imgproc_c.h>
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#if (CV_MAJOR_VERSION >= 3)
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#include <opencv2/imgproc.hpp>
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#endif
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GST_DEBUG_CATEGORY_STATIC (gst_disparity_debug);
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#define GST_CAT_DEFAULT gst_disparity_debug
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using namespace cv;
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/* Filter signals and args */
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enum
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{
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@ -141,9 +145,7 @@ enum
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typedef enum
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{
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METHOD_SBM,
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METHOD_SGBM,
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METHOD_VAR,
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METHOD_GC
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METHOD_SGBM
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} GstDisparityMethod;
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#define DEFAULT_METHOD METHOD_SGBM
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@ -157,8 +159,6 @@ gst_disparity_method_get_type (void)
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static const GEnumValue values[] = {
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{METHOD_SBM, "Global block matching algorithm", "sbm"},
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{METHOD_SGBM, "Semi-global block matching algorithm", "sgbm"},
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{METHOD_VAR, "Variational matching algorithm", "svar"},
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{METHOD_GC, "Graph-cut based matching algorithm", "sgc"},
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{0, NULL, NULL},
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};
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etype = g_enum_register_static ("GstDisparityMethod", values);
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@ -205,8 +205,6 @@ static void initialise_disparity (GstDisparity * fs, int width, int height,
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static int initialise_sbm (GstDisparity * filter);
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static int run_sbm_iteration (GstDisparity * filter);
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static int run_sgbm_iteration (GstDisparity * filter);
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static int run_svar_iteration (GstDisparity * filter);
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static int run_sgc_iteration (GstDisparity * filter);
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static int finalise_sbm (GstDisparity * filter);
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/* initialize the disparity's class */
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@ -580,27 +578,6 @@ gst_disparity_chain_right (GstPad * pad, GstObject * parent, GstBuffer * buffer)
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CV_MINMAX, NULL);
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cvCvtColor (fs->cvGray_depth_map2, fs->cvRGB_right, CV_GRAY2RGB);
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}
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/* The class implements the modified S. G. Kosov algorithm
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See the comments on top of the file.
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*/
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else if (METHOD_VAR == fs->method) {
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cvCvtColor (fs->cvRGB_left, fs->cvGray_left, CV_RGB2GRAY);
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cvCvtColor (fs->cvRGB_right, fs->cvGray_right, CV_RGB2GRAY);
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run_svar_iteration (fs);
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cvCvtColor (fs->cvGray_depth_map2, fs->cvRGB_right, CV_GRAY2RGB);
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}
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/* The Graph Cut stereo vision algorithm (GC) introduced in [D] is a global
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stereo vision method. It calculates depth discontinuities by minimizing an
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energy function combingin a point-wise matching cost and a smoothness term.
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See the comments on top of the file.
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*/
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else if (METHOD_GC == fs->method) {
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cvCvtColor (fs->cvRGB_left, fs->cvGray_left, CV_RGB2GRAY);
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cvCvtColor (fs->cvRGB_right, fs->cvGray_right, CV_RGB2GRAY);
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run_sgc_iteration (fs);
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cvConvertScale (fs->cvGray_depth_map1, fs->cvGray_depth_map2, -16.0, 0.0);
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cvCvtColor (fs->cvGray_depth_map2, fs->cvRGB_right, CV_GRAY2RGB);
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}
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GST_DEBUG_OBJECT (pad, " right has finished");
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@ -663,72 +640,65 @@ initialise_disparity (GstDisparity * fs, int width, int height, int nchannels)
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int
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initialise_sbm (GstDisparity * filter)
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{
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filter->img_right_as_cvMat_rgb =
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(void *) new cv::Mat (filter->cvRGB_right, false);
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filter->img_left_as_cvMat_rgb =
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(void *) new cv::Mat (filter->cvRGB_left, false);
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filter->img_right_as_cvMat_gray =
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(void *) new cv::Mat (filter->cvGray_right, false);
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(void *) new Mat (cvarrToMat (filter->cvGray_right, false));
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filter->img_left_as_cvMat_gray =
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(void *) new cv::Mat (filter->cvGray_left, false);
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(void *) new Mat (cvarrToMat (filter->cvGray_left, false));
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filter->depth_map_as_cvMat =
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(void *) new cv::Mat (filter->cvGray_depth_map1, false);
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filter->depth_map_as_cvMat2 =
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(void *) new cv::Mat (filter->cvGray_depth_map2, false);
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(void *) new Mat (cvarrToMat (filter->cvGray_depth_map1, false));
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#if (CV_MAJOR_VERSION >= 3)
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filter->sbm = StereoBM::create();
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filter->sgbm = StereoSGBM::create(1,64,3);
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filter->sbm = (void *) new cv::StereoBM ();
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filter->sgbm = (void *) new cv::StereoSGBM ();
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filter->svar = (void *) new cv::StereoVar ();
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/* SGC has only two parameters on creation: NumerOfDisparities and MaxIters */
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filter->sgc = cvCreateStereoGCState (16, 2);
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filter->sbm->setBlockSize (9);
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filter->sbm->setNumDisparities (32);
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filter->sbm->setPreFilterSize (9);
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filter->sbm->setPreFilterCap (32);
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filter->sbm->setMinDisparity (0);
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filter->sbm->setTextureThreshold (0);
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filter->sbm->setUniquenessRatio (0);
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filter->sbm->setSpeckleWindowSize (0);
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filter->sbm->setSpeckleRange (0);
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filter->sbm->setDisp12MaxDiff (0);
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((cv::StereoBM *) filter->sbm)->state->SADWindowSize = 9;
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((cv::StereoBM *) filter->sbm)->state->numberOfDisparities = 32;
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((cv::StereoBM *) filter->sbm)->state->preFilterSize = 9;
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((cv::StereoBM *) filter->sbm)->state->preFilterCap = 32;
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((cv::StereoBM *) filter->sbm)->state->minDisparity = 0;
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((cv::StereoBM *) filter->sbm)->state->textureThreshold = 0;
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((cv::StereoBM *) filter->sbm)->state->uniquenessRatio = 0;
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((cv::StereoBM *) filter->sbm)->state->speckleWindowSize = 0;
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((cv::StereoBM *) filter->sbm)->state->speckleRange = 0;
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((cv::StereoBM *) filter->sbm)->state->disp12MaxDiff = 0;
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filter->sgbm->setMinDisparity (1);
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filter->sgbm->setNumDisparities (64);
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filter->sgbm->setBlockSize (3);
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filter->sgbm->setP1 (200);
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filter->sgbm->setP2 (255);
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filter->sgbm->setDisp12MaxDiff (0);
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filter->sgbm->setPreFilterCap (0);
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filter->sgbm->setUniquenessRatio (0);
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filter->sgbm->setSpeckleWindowSize (0);
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filter->sgbm->setSpeckleRange (0);
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filter->sgbm->setMode (StereoSGBM::MODE_HH);
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#else
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filter->sbm = (void *) new StereoBM ();
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filter->sgbm = (void *) new StereoSGBM ();
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((cv::StereoSGBM *) filter->sgbm)->minDisparity = 1;
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((cv::StereoSGBM *) filter->sgbm)->numberOfDisparities = 64;
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((cv::StereoSGBM *) filter->sgbm)->SADWindowSize = 3;
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((cv::StereoSGBM *) filter->sgbm)->P1 = 200;;
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((cv::StereoSGBM *) filter->sgbm)->P2 = 255;
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((cv::StereoSGBM *) filter->sgbm)->disp12MaxDiff = 0;
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((cv::StereoSGBM *) filter->sgbm)->preFilterCap = 0;
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((cv::StereoSGBM *) filter->sgbm)->uniquenessRatio = 0;
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((cv::StereoSGBM *) filter->sgbm)->speckleWindowSize = 0;
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((cv::StereoSGBM *) filter->sgbm)->speckleRange = 0;
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((cv::StereoSGBM *) filter->sgbm)->fullDP = true;
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((StereoBM *) filter->sbm)->state->SADWindowSize = 9;
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((StereoBM *) filter->sbm)->state->numberOfDisparities = 32;
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((StereoBM *) filter->sbm)->state->preFilterSize = 9;
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((StereoBM *) filter->sbm)->state->preFilterCap = 32;
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((StereoBM *) filter->sbm)->state->minDisparity = 0;
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((StereoBM *) filter->sbm)->state->textureThreshold = 0;
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((StereoBM *) filter->sbm)->state->uniquenessRatio = 0;
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((StereoBM *) filter->sbm)->state->speckleWindowSize = 0;
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((StereoBM *) filter->sbm)->state->speckleRange = 0;
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((StereoBM *) filter->sbm)->state->disp12MaxDiff = 0;
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/* From Opencv samples/cpp/stereo_match.cpp */
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((cv::StereoVar *) filter->svar)->levels = 3;
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((cv::StereoVar *) filter->svar)->pyrScale = 0.5;
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((cv::StereoVar *) filter->svar)->nIt = 25;
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((cv::StereoVar *) filter->svar)->minDisp = -64;
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((cv::StereoVar *) filter->svar)->maxDisp = 0;
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((cv::StereoVar *) filter->svar)->poly_n = 3;
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((cv::StereoVar *) filter->svar)->poly_sigma = 0.0;
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((cv::StereoVar *) filter->svar)->fi = 15.0f;
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((cv::StereoVar *) filter->svar)->lambda = 0.03f;
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((cv::StereoVar *) filter->svar)->penalization =
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cv::StereoVar::PENALIZATION_TICHONOV;
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((cv::StereoVar *) filter->svar)->cycle = cv::StereoVar::CYCLE_V;
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((cv::StereoVar *) filter->svar)->flags = cv::StereoVar::USE_SMART_ID |
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cv::StereoVar::USE_AUTO_PARAMS |
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cv::StereoVar::USE_INITIAL_DISPARITY |
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cv::StereoVar::USE_MEDIAN_FILTERING;
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filter->sgc->Ithreshold = 5;
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filter->sgc->interactionRadius = 1;
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filter->sgc->occlusionCost = 10000;
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filter->sgc->minDisparity = 0;
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filter->sgc->numberOfDisparities = 16; /* Coming from constructor too */
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filter->sgc->maxIters = 1; /* Coming from constructor too */
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((StereoSGBM *) filter->sgbm)->minDisparity = 1;
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((StereoSGBM *) filter->sgbm)->numberOfDisparities = 64;
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((StereoSGBM *) filter->sgbm)->SADWindowSize = 3;
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((StereoSGBM *) filter->sgbm)->P1 = 200;;
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((StereoSGBM *) filter->sgbm)->P2 = 255;
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((StereoSGBM *) filter->sgbm)->disp12MaxDiff = 0;
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((StereoSGBM *) filter->sgbm)->preFilterCap = 0;
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((StereoSGBM *) filter->sgbm)->uniquenessRatio = 0;
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((StereoSGBM *) filter->sgbm)->speckleWindowSize = 0;
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((StereoSGBM *) filter->sgbm)->speckleRange = 0;
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((StereoSGBM *) filter->sgbm)->fullDP = true;
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#endif
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return (0);
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}
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@ -736,53 +706,49 @@ initialise_sbm (GstDisparity * filter)
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int
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run_sbm_iteration (GstDisparity * filter)
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{
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(*((cv::StereoBM *) filter->
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sbm)) (*((cv::Mat *) filter->img_left_as_cvMat_gray),
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*((cv::Mat *) filter->img_right_as_cvMat_gray),
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*((cv::Mat *) filter->depth_map_as_cvMat));
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#if (CV_MAJOR_VERSION >= 3)
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((StereoBM *) filter->
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sbm)->compute (*((Mat *) filter->img_left_as_cvMat_gray),
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*((Mat *) filter->img_right_as_cvMat_gray),
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*((Mat *) filter->depth_map_as_cvMat));
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#else
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(*((StereoBM *) filter->
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sbm)) (*((Mat *) filter->img_left_as_cvMat_gray),
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*((Mat *) filter->img_right_as_cvMat_gray),
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*((Mat *) filter->depth_map_as_cvMat));
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#endif
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return (0);
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}
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int
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run_sgbm_iteration (GstDisparity * filter)
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{
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(*((cv::StereoSGBM *) filter->
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sgbm)) (*((cv::Mat *) filter->img_left_as_cvMat_gray),
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*((cv::Mat *) filter->img_right_as_cvMat_gray),
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*((cv::Mat *) filter->depth_map_as_cvMat));
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return (0);
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}
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int
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run_svar_iteration (GstDisparity * filter)
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{
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(*((cv::StereoVar *) filter->
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svar)) (*((cv::Mat *) filter->img_left_as_cvMat_gray),
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*((cv::Mat *) filter->img_right_as_cvMat_gray),
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*((cv::Mat *) filter->depth_map_as_cvMat2));
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return (0);
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}
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int
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run_sgc_iteration (GstDisparity * filter)
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{
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cvFindStereoCorrespondenceGC (filter->cvGray_left,
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filter->cvGray_right, filter->cvGray_depth_map1,
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filter->cvGray_depth_map1_2, filter->sgc, 0);
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#if (CV_MAJOR_VERSION >= 3)
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((StereoSGBM *) filter->
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sgbm)->compute (*((Mat *) filter->img_left_as_cvMat_gray),
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*((Mat *) filter->img_right_as_cvMat_gray),
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*((Mat *) filter->depth_map_as_cvMat));
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#else
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(*((StereoSGBM *) filter->
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sgbm)) (*((Mat *) filter->img_left_as_cvMat_gray),
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*((Mat *) filter->img_right_as_cvMat_gray),
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*((Mat *) filter->depth_map_as_cvMat));
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#endif
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return (0);
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}
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int
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finalise_sbm (GstDisparity * filter)
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{
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delete (cv::Mat *) filter->img_left_as_cvMat_rgb;
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delete (cv::Mat *) filter->img_right_as_cvMat_rgb;
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delete (cv::Mat *) filter->depth_map_as_cvMat;
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delete (cv::Mat *) filter->depth_map_as_cvMat2;
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delete (cv::Mat *) filter->img_left_as_cvMat_gray;
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delete (cv::Mat *) filter->img_right_as_cvMat_gray;
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delete (cv::StereoBM *) filter->sbm;
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delete (cv::StereoSGBM *) filter->sgbm;
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delete (cv::StereoVar *) filter->svar;
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delete (Mat *) filter->depth_map_as_cvMat;
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delete (Mat *) filter->img_left_as_cvMat_gray;
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delete (Mat *) filter->img_right_as_cvMat_gray;
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#if (CV_MAJOR_VERSION >= 3)
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filter->sbm.release();
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filter->sgbm.release();
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#else
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delete (StereoBM *) filter->sbm;
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delete (StereoSGBM *) filter->sgbm;
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#endif
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return (0);
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}
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@ -47,7 +47,9 @@
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#include <gst/gst.h>
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#include <gst/video/video.h>
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#include <opencv2/legacy/legacy.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <opencv2/core/version.hpp>
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G_BEGIN_DECLS
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/* #defines don't like whitespacey bits */
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@ -92,16 +94,16 @@ struct _GstDisparity
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IplImage *cvGray_depth_map2; /*IPL_DEPTH_8U */
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IplImage *cvGray_depth_map1_2; /*IPL_DEPTH_16S */
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void *sbm; /* cv::StereoBM */
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void *sgbm; /* cv::StereoSGBM */
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void *svar; /* cv::StereoVar */
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CvStereoGCState *sgc; /* This is a C implementation */
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void *img_right_as_cvMat_rgb; /* cv::Mat */
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void *img_left_as_cvMat_rgb; /* cv::Mat */
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void *depth_map_as_cvMat; /* cv::Mat */
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void *depth_map_as_cvMat2; /* cv::Mat */
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void *img_right_as_cvMat_gray; /* cv::Mat */
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void *img_left_as_cvMat_gray; /* cv::Mat */
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void *depth_map_as_cvMat; /* cv::Mat */
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#if (CV_MAJOR_VERSION >= 3)
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cv::Ptr<cv::StereoBM> sbm; /* cv::StereoBM */
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cv::Ptr<cv::StereoSGBM> sgbm; /* cv::StereoSGBM */
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#else
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void *sbm; /* cv::StereoBM */
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void *sgbm; /* cv::StereoSGBM */
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#endif
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};
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struct _GstDisparityClass
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