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41 //M*/
42
43 #include "precomp.hpp"
44 #include "opencv2/calib3d/calib3d_c.h"
45
cvCreateStereoBMState(int,int numberOfDisparities)46 CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities )
47 {
48 CvStereoBMState* state = (CvStereoBMState*)cvAlloc( sizeof(*state) );
49 if( !state )
50 return 0;
51
52 state->preFilterType = CV_STEREO_BM_XSOBEL; //CV_STEREO_BM_NORMALIZED_RESPONSE;
53 state->preFilterSize = 9;
54 state->preFilterCap = 31;
55 state->SADWindowSize = 15;
56 state->minDisparity = 0;
57 state->numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : 64;
58 state->textureThreshold = 10;
59 state->uniquenessRatio = 15;
60 state->speckleRange = state->speckleWindowSize = 0;
61 state->trySmallerWindows = 0;
62 state->roi1 = state->roi2 = cvRect(0,0,0,0);
63 state->disp12MaxDiff = -1;
64
65 state->preFilteredImg0 = state->preFilteredImg1 = state->slidingSumBuf =
66 state->disp = state->cost = 0;
67
68 return state;
69 }
70
cvReleaseStereoBMState(CvStereoBMState ** state)71 void cvReleaseStereoBMState( CvStereoBMState** state )
72 {
73 if( !state )
74 CV_Error( CV_StsNullPtr, "" );
75
76 if( !*state )
77 return;
78
79 cvReleaseMat( &(*state)->preFilteredImg0 );
80 cvReleaseMat( &(*state)->preFilteredImg1 );
81 cvReleaseMat( &(*state)->slidingSumBuf );
82 cvReleaseMat( &(*state)->disp );
83 cvReleaseMat( &(*state)->cost );
84 cvFree( state );
85 }
86
cvFindStereoCorrespondenceBM(const CvArr * leftarr,const CvArr * rightarr,CvArr * disparr,CvStereoBMState * state)87 void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
88 CvArr* disparr, CvStereoBMState* state )
89 {
90 cv::Mat left = cv::cvarrToMat(leftarr), right = cv::cvarrToMat(rightarr);
91 const cv::Mat disp = cv::cvarrToMat(disparr);
92
93 CV_Assert( state != 0 );
94
95 cv::Ptr<cv::StereoBM> sm = cv::StereoBM::create(state->numberOfDisparities,
96 state->SADWindowSize);
97 sm->setPreFilterType(state->preFilterType);
98 sm->setPreFilterSize(state->preFilterSize);
99 sm->setPreFilterCap(state->preFilterCap);
100 sm->setBlockSize(state->SADWindowSize);
101 sm->setNumDisparities(state->numberOfDisparities > 0 ? state->numberOfDisparities : 64);
102 sm->setTextureThreshold(state->textureThreshold);
103 sm->setUniquenessRatio(state->uniquenessRatio);
104 sm->setSpeckleRange(state->speckleRange);
105 sm->setSpeckleWindowSize(state->speckleWindowSize);
106 sm->setDisp12MaxDiff(state->disp12MaxDiff);
107
108 sm->compute(left, right, disp);
109 }
110
cvGetValidDisparityROI(CvRect roi1,CvRect roi2,int minDisparity,int numberOfDisparities,int SADWindowSize)111 CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
112 int numberOfDisparities, int SADWindowSize )
113 {
114 return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity,
115 numberOfDisparities, SADWindowSize );
116 }
117
cvValidateDisparity(CvArr * _disp,const CvArr * _cost,int minDisparity,int numberOfDisparities,int disp12MaxDiff)118 void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
119 int numberOfDisparities, int disp12MaxDiff )
120 {
121 cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
122 cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
123 }
124