Initial attempt to use ELAS library as algorithm

cv-node/CMakeLists.txt

@@ -22,6 +22,7 @@ set(CVNODESRC
 	src/algorithms/rtcensus_sgm.cpp
 	src/algorithms/opencv_sgbm.cpp
 	src/algorithms/opencv_bm.cpp
+	src/algorithms/elas.cpp
 )
 
 if (LIBSGM_FOUND)
@@ -43,12 +44,13 @@ endif (CUDA_FOUND)
 
 add_executable(cv-node ${CVNODESRC})
 add_dependencies(cv-node ftlnet)
+add_dependencies(cv-node libelas)
 
 if (CUDA_FOUND)
 set_property(TARGET cv-node PROPERTY CUDA_SEPARABLE_COMPILATION ON)
 endif()
 
 #target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(cv-node Threads::Threads ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
+target_link_libraries(cv-node Threads::Threads libelas ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
 
 

cv-node/include/ftl/algorithms/elas.hpp

+/*
+ * Copyright 2019 Nicolas Pope
+ */
+
+#ifndef _FTL_ALGORITHMS_ELAS_HPP_
+#define _FTL_ALGORITHMS_ELAS_HPP_
+
+#include <opencv2/core.hpp>
+#include <opencv2/opencv.hpp>
+#include <elas.h>
+#include <ftl/disparity.hpp>
+
+namespace ftl {
+namespace algorithms {
+
+/**
+ * LibELAS - Efficient Large-scale Stereo Matching 
+ * @see http://www.cvlibs.net/software/libelas/
+ */
+class ELAS : public ftl::Disparity {
+	public:
+	explicit ELAS(nlohmann::json &config);
+
+	void compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp);
+
+	/* Factory creator */
+	static inline Disparity *create(nlohmann::json &config) {
+		return new ELAS(config);
+	}
+
+	private:
+	Elas::parameters param_;
+	Elas *elas_;
+};
+};
+};
+
+#endif  // _FTL_ALGORITHMS_ELAS_HPP_
+

cv-node/src/algorithms/elas.cpp

+/* Copyright 2019 Nicolas Pope */
+
+#include <ftl/algorithms/elas.hpp>
+#include <glog/logging.h>
+
+using ftl::algorithms::ELAS;
+using cv::Mat;
+
+static ftl::Disparity::Register elass("elas", ELAS::create);
+
+ELAS::ELAS(nlohmann::json &config) : Disparity(config) {
+	param_.postprocess_only_left = true;
+	elas_ = new Elas(param_);
+}
+
+void ELAS::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
+	//Mat left_disp;
+	//Mat right_disp;
+
+	Mat lbw, rbw;
+	cv::cvtColor(l, lbw,  cv::COLOR_BGR2GRAY);
+	cv::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
+
+	disp = Mat(cv::Size(l.cols, l.rows), CV_32F);
+	Mat dispr(cv::Size(l.cols, l.rows), CV_32F);
+	
+	const int32_t dims[3] = {l.cols,l.rows,l.step/sizeof(float)};
+	
+	if (disp.step/sizeof(float) != lbw.step) LOG(WARNING) << "Incorrect disparity step";
+
+	auto start = std::chrono::high_resolution_clock::now();
+	elas_->process(lbw.data, rbw.data, (float*)disp.data, (float*)dispr.data, dims);
+	std::chrono::duration<double> elapsed =
+			std::chrono::high_resolution_clock::now() - start;
+	LOG(INFO) << "Elas in " << elapsed.count() << "s";
+
+	//disp.convertTo(disp, CV_32F, 1.0f);
+}
+
+
+