From 1aaca92ed617eab1cffb88fddff7a1e3df1df38b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 13 Mar 2019 10:59:55 +0200
Subject: [PATCH] SGBM disparity experiment
---
cv-node/src/main.cpp | 38 ++++++++++++++++++++++++++++++++++++--
1 file changed, 36 insertions(+), 2 deletions(-)
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 026a5da7f..385a5928f 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -3,6 +3,12 @@
#include <ftl/synched.hpp>
#include <ftl/calibrate.hpp>
+#include "opencv2/imgproc.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/core/utility.hpp"
+#include "opencv2/ximgproc.hpp"
+
#include <glog/logging.h>
#include <string>
@@ -13,6 +19,9 @@ using std::string;
using std::vector;
using cv::Mat;
+using namespace cv;
+using namespace cv::ximgproc;
+
static vector<string> OPTION_peers;
static vector<string> OPTION_channels;
static string OPTION_calibration_config = FTL_CONFIG_ROOT "/calibration.xml";
@@ -88,9 +97,25 @@ int main(int argc, char **argv) {
if (!calibrate.isCalibrated()) {
LOG(WARNING) << "Cameras are not calibrated!";
}
+
+ int max_disp = 256;
+ int wsize = 5;
+ Ptr<DisparityWLSFilter> wls_filter;
+
+ Ptr<StereoSGBM> left_matcher = StereoSGBM::create(10,max_disp,wsize);
+ left_matcher->setP1(24*wsize*wsize);
+ left_matcher->setP2(96*wsize*wsize);
+ left_matcher->setPreFilterCap(31);
+ left_matcher->setMode(StereoSGBM::MODE_SGBM_3WAY);
+ wls_filter = createDisparityWLSFilter(left_matcher);
+ Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);
+ /*Ptr<StereoBM> left_matcher = StereoBM::create(max_disp,wsize);
+ //left_matcher->setPreFilterCap(63);
+ wls_filter = createDisparityWLSFilter(left_matcher);
+ Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);*/
while (true) {
- Mat l, r;
+ Mat l, r, left_disp, right_disp;
calibrate.undistort(l,r);
//lsrc->get(l,r);
@@ -106,9 +131,18 @@ int main(int argc, char **argv) {
// TODO Pose and disparity etc here...
+ cvtColor(l, l, COLOR_BGR2GRAY);
+ cvtColor(r, r, COLOR_BGR2GRAY);
+ //matching_time = (double)getTickCount();
+ left_matcher-> compute(l, r,left_disp);
+ right_matcher->compute(r,l, right_disp);
+ // matching_time = ((double)getTickCount() - matching_time)/getTickFrequency();
+
// TODO Send RGB+D data somewhere
+
+ normalize(left_disp, left_disp, 0, 255, NORM_MINMAX, CV_8U);
- cv::imshow("Left",l);
+ cv::imshow("Left",left_disp);
if (lsrc->isStereo()) cv::imshow("Right",r);
if(cv::waitKey(20) == 27){
--
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