From 435bc2e673d45f39e5bd41b84911a9e785d7fc97 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 16 Mar 2019 13:56:10 +0200
Subject: [PATCH] Add the Fixstars/libSGM algorithm
---
cv-node/CMakeLists.txt | 11 ++++++-
cv-node/cmake/FindLibSGM.cmake | 33 +++++++++++++++++++
cv-node/config/config.json | 5 ++-
.../include/ftl/algorithms/fixstars_sgm.hpp | 26 +++++++++++++++
cv-node/include/ftl/algorithms/opencv_bm.hpp | 29 ++++++++++++++++
cv-node/src/algorithms/fixstars_sgm.cpp | 28 ++++++++++++++++
cv-node/src/algorithms/opencv_bm.cpp | 31 +++++++++++++++++
cv-node/src/algorithms/opencv_sgbm.cpp | 7 ++--
cv-node/src/main.cpp | 20 +++++------
9 files changed, 172 insertions(+), 18 deletions(-)
create mode 100644 cv-node/cmake/FindLibSGM.cmake
create mode 100644 cv-node/include/ftl/algorithms/fixstars_sgm.hpp
create mode 100644 cv-node/include/ftl/algorithms/opencv_bm.hpp
diff --git a/cv-node/CMakeLists.txt b/cv-node/CMakeLists.txt
index a847840be..9bc20a4f3 100644
--- a/cv-node/CMakeLists.txt
+++ b/cv-node/CMakeLists.txt
@@ -8,6 +8,7 @@ include(CTest)
enable_testing()
set(THREADS_PREFER_PTHREAD_FLAG ON)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
if (WIN32)
find_package( glog REQUIRED )
@@ -15,6 +16,8 @@ include_directories(${glog_DIR})
endif (WIN32)
find_package( OpenCV REQUIRED )
find_package( Threads REQUIRED )
+find_package( LibSGM )
+find_package( CUDA )
#find_package(PkgConfig)
#pkg_check_modules(GTKMM gtkmm-3.0)
@@ -63,10 +66,16 @@ set(CVNODESRC
src/disparity.cpp
src/algorithms/rtcensus.cpp
src/algorithms/opencv_sgbm.cpp
+ src/algorithms/opencv_bm.cpp
)
+if (LIBSGM_FOUND)
+ list(APPEND CVNODESRC "src/algorithms/fixstars_sgm.cpp")
+ message("Cuda libraries at ${CUDA_LIBRARIES}")
+endif (LIBSGM_FOUND)
+
add_executable(cv-node ${CVNODESRC})
target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(cv-node Threads::Threads ${OpenCV_LIBS} glog)
+target_link_libraries(cv-node Threads::Threads ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog)
diff --git a/cv-node/cmake/FindLibSGM.cmake b/cv-node/cmake/FindLibSGM.cmake
new file mode 100644
index 000000000..ac950c251
--- /dev/null
+++ b/cv-node/cmake/FindLibSGM.cmake
@@ -0,0 +1,33 @@
+###############################################################################
+# Find LibSGM
+#
+# This sets the following variables:
+# LIBSGM_FOUND - True if LIBSGM was found.
+# LIBSGM_INCLUDE_DIRS - Directories containing the LIBSGM include files.
+# LIBSGM_LIBRARY - Libraries needed to use LIBSGM.
+
+# Find lib
+set(LIBSGM_FOUND FALSE CACHE BOOL "" FORCE)
+find_library(LIBSGM_LIBRARY
+ NAMES sgm libsgm
+ PATH_SUFFIXES lib/
+)
+
+# Find include
+find_path(LIBSGM_INCLUDE_DIRS
+ NAMES libsgm.h
+ PATH_SUFFIXES include/
+)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(LibSGM DEFAULT_MSG LIBSGM_LIBRARY LIBSGM_INCLUDE_DIRS)
+
+message(STATUS "(LIBSGM_FOUND : ${LIBSGM_FOUND} include: ${LIBSGM_INCLUDE_DIRS}, lib: ${LIBSGM_LIBRARY})")
+
+mark_as_advanced(LIBSGM_FOUND)
+
+if(LIBSGM_FOUND)
+ set(LIBSGM_FOUND TRUE CACHE BOOL "" FORCE)
+ set(LIBSGM_LIBRARIES ${LIBSGM_LIBRARY})
+ message(STATUS "LibSGM found ( include: ${LIBSGM_INCLUDE_DIRS}, lib: ${LIBSGM_LIBRARY})")
+endif()
diff --git a/cv-node/config/config.json b/cv-node/config/config.json
index 4e4a982b7..9a768db7d 100644
--- a/cv-node/config/config.json
+++ b/cv-node/config/config.json
@@ -34,7 +34,10 @@
"minimum": 0,
"maximum": 208,
"tau": 0.0,
- "gamma": 0.0
+ "gamma": 0.0,
+ "window_size": 5,
+ "sigma": 1.5,
+ "lambda": 8000.0
}
}
diff --git a/cv-node/include/ftl/algorithms/fixstars_sgm.hpp b/cv-node/include/ftl/algorithms/fixstars_sgm.hpp
new file mode 100644
index 000000000..1afa4dc46
--- /dev/null
+++ b/cv-node/include/ftl/algorithms/fixstars_sgm.hpp
@@ -0,0 +1,26 @@
+#ifndef _FTL_ALGORITHMS_FIXSTARS_SGM_HPP_
+#define _FTL_ALGORITHMS_FIXSTARS_SGM_HPP_
+
+#include <opencv2/core.hpp>
+#include <opencv2/opencv.hpp>
+#include <libsgm.h>
+#include <ftl/disparity.hpp>
+
+namespace ftl {
+namespace algorithms {
+class FixstarsSGM : public ftl::Disparity {
+ public:
+ FixstarsSGM(nlohmann::json &config);
+
+ void compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp);
+
+ static inline Disparity *create(nlohmann::json &config) { return new FixstarsSGM(config); }
+
+ private:
+ sgm::StereoSGM *ssgm_;
+};
+};
+};
+
+#endif // _FTL_ALGORITHMS_FIXSTARS_SGM_HPP_
+
diff --git a/cv-node/include/ftl/algorithms/opencv_bm.hpp b/cv-node/include/ftl/algorithms/opencv_bm.hpp
new file mode 100644
index 000000000..defa3a105
--- /dev/null
+++ b/cv-node/include/ftl/algorithms/opencv_bm.hpp
@@ -0,0 +1,29 @@
+#ifndef _FTL_ALGORITHMS_OPENCV_BM_HPP_
+#define _FTL_ALGORITHMS_OPENCV_BM_HPP_
+
+#include <opencv2/core.hpp>
+#include <opencv2/opencv.hpp>
+#include "opencv2/ximgproc.hpp"
+#include <opencv2/calib3d.hpp>
+#include <ftl/disparity.hpp>
+
+namespace ftl {
+namespace algorithms {
+class OpenCVBM : public ftl::Disparity {
+ public:
+ OpenCVBM(nlohmann::json &config);
+
+ void compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp);
+
+ static inline Disparity *create(nlohmann::json &config) { return new OpenCVBM(config); }
+
+ private:
+ cv::Ptr<cv::StereoBM> left_matcher_;
+ cv::Ptr<cv::StereoMatcher> right_matcher_;
+ cv::Ptr<cv::ximgproc::DisparityWLSFilter> wls_filter_;
+};
+};
+};
+
+#endif // _FTL_ALGORITHMS_OPENCV_SGBM_HPP_
+
diff --git a/cv-node/src/algorithms/fixstars_sgm.cpp b/cv-node/src/algorithms/fixstars_sgm.cpp
index e69de29bb..216cf8e93 100644
--- a/cv-node/src/algorithms/fixstars_sgm.cpp
+++ b/cv-node/src/algorithms/fixstars_sgm.cpp
@@ -0,0 +1,28 @@
+#include <ftl/algorithms/fixstars_sgm.hpp>
+
+using ftl::algorithms::FixstarsSGM;
+using namespace cv;
+
+static ftl::Disparity::Register fixstarssgm("libsgm", FixstarsSGM::create);
+
+FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
+ ssgm_ = nullptr;
+}
+
+void FixstarsSGM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
+ Mat left_disp;
+ Mat right_disp;
+
+ if (!ssgm_) {
+ ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 8, sgm::EXECUTE_INOUT_HOST2HOST);
+ }
+
+ if (disp.cols != l.cols || disp.rows != l.rows) {
+ disp = Mat(cv::Size(l.cols, l.rows), CV_8UC1);
+ }
+
+ ssgm_->execute(l.data, r.data, disp.data);
+}
+
+
+
diff --git a/cv-node/src/algorithms/opencv_bm.cpp b/cv-node/src/algorithms/opencv_bm.cpp
index e69de29bb..acb9793e6 100644
--- a/cv-node/src/algorithms/opencv_bm.cpp
+++ b/cv-node/src/algorithms/opencv_bm.cpp
@@ -0,0 +1,31 @@
+#include <ftl/algorithms/opencv_bm.hpp>
+
+using ftl::algorithms::OpenCVBM;
+using namespace cv::ximgproc;
+using namespace cv;
+
+static ftl::Disparity::Register opencvbm("bm", OpenCVBM::create);
+
+OpenCVBM::OpenCVBM(nlohmann::json &config) : Disparity(config) {
+ int wsize = config.value("windows_size", 5);
+ float sigma = config.value("sigma", 1.5);
+ float lambda = config.value("lambda", 8000.0);
+
+ left_matcher_ = StereoBM::create(max_disp_,wsize);
+ wls_filter_ = createDisparityWLSFilter(left_matcher_);
+ right_matcher_ = createRightMatcher(left_matcher_);
+
+ wls_filter_->setLambda(lambda);
+ wls_filter_->setSigmaColor(sigma);
+}
+
+void OpenCVBM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
+ Mat left_disp;
+ Mat right_disp;
+ left_matcher_-> compute(l, r,left_disp);
+ right_matcher_->compute(r,l, right_disp);
+ wls_filter_->filter(left_disp,l,disp,right_disp);
+}
+
+
+
diff --git a/cv-node/src/algorithms/opencv_sgbm.cpp b/cv-node/src/algorithms/opencv_sgbm.cpp
index 102add505..9853e4f01 100644
--- a/cv-node/src/algorithms/opencv_sgbm.cpp
+++ b/cv-node/src/algorithms/opencv_sgbm.cpp
@@ -7,10 +7,9 @@ using namespace cv;
static ftl::Disparity::Register opencvsgbm("sgbm", OpenCVSGBM::create);
OpenCVSGBM::OpenCVSGBM(nlohmann::json &config) : Disparity(config) {
- int wsize = 5;
- float sigma = 1.5;
- float lambda = 8000.0;
-
+ int wsize = config.value("windows_size", 5);
+ float sigma = config.value("sigma", 1.5);
+ float lambda = config.value("lambda", 8000.0);
left_matcher_ = StereoSGBM::create(min_disp_,max_disp_,wsize);
left_matcher_->setP1(24*wsize*wsize);
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 4fbe18c48..c4c804dc3 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -23,12 +23,9 @@ using std::map;
using cv::Mat;
using json = nlohmann::json;
using std::ifstream;
-
using namespace cv;
-//using namespace cv::ximgproc;
-
-static string OPTION_calibration_config = FTL_CONFIG_ROOT "/calibration.xml";
+// Store loaded configuration
static json config;
/**
@@ -42,6 +39,9 @@ static bool findConfiguration(const string &file) {
return true;
}
+/**
+ * Generate a map from command line option to value
+ */
map<string,string> read_options(char ***argv, int *argc) {
map<string,string> opts;
@@ -63,6 +63,10 @@ map<string,string> read_options(char ***argv, int *argc) {
return opts;
}
+/**
+ * Put command line options into json config. If config element does not exist
+ * or is of a different type then report an error.
+ */
static void process_options(const map<string,string> &opts) {
for (auto opt : opts) {
if (opt.first == "config") continue;
@@ -95,7 +99,6 @@ int main(int argc, char **argv) {
// TODO Initiate the network
LocalSource *lsrc;
-
if (argc) {
// Load video file
lsrc = new LocalSource(argv[0], config["source"]);
@@ -114,16 +117,9 @@ int main(int argc, char **argv) {
Calibrate calibrate(lsrc, config["calibration"]);
if (config["calibrate"]) calibrate.recalibrate();
if (!calibrate.isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
-
- /*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);*/
// Choose and configure disparity algorithm
auto disparity = Disparity::create(config["disparity"]);
-
- //double fact = 4.051863857;
Mat l, r, filtered_disp;
--
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