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Added semi-global block matching stereo

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This commit is contained in:
Max Ehrlich 2015-02-06 11:06:58 -05:00
parent e7b3cab803
commit 487ac8a137
3 changed files with 159 additions and 0 deletions
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134
src/Stereo.cc
View File

@ -1,6 +1,8 @@
#include "Stereo.h"
#include "Matrix.h"
// Block matching
v8::Persistent<FunctionTemplate> StereoBM::constructor;
void
@ -97,3 +99,135 @@ NAN_METHOD(StereoBM::Compute)
}
};
// Semi-Global Block matching
v8::Persistent<FunctionTemplate> StereoSGBM::constructor;
void
StereoSGBM::Init(Handle<Object> target) {
NanScope();
Local<FunctionTemplate> ctor = NanNew<FunctionTemplate>(StereoSGBM::New);
NanAssignPersistent(constructor, ctor);
ctor->InstanceTemplate()->SetInternalFieldCount(1);
ctor->SetClassName(NanNew("StereoSGBM"));
NODE_SET_PROTOTYPE_METHOD(ctor, "compute", Compute);
target->Set(NanNew("StereoSGBM"), ctor->GetFunction());
}
NAN_METHOD(StereoSGBM::New) {
NanScope();
if (args.This()->InternalFieldCount() == 0)
NanThrowTypeError("Cannot instantiate without new");
StereoSGBM *stereo;
if (args.Length() == 0)
{
stereo = new StereoSGBM();
}
else
{
// If passing arguments, must pass the first 3 at least
if (args.Length() >= 3)
{
switch (args.Length())
{
case 3:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue());
break;
case 4:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue());
break;
case 5:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue());
break;
case 6:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue());
break;
case 7:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue());
break;
case 8:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue());
break;
case 9:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue());
break;
case 10:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue(), args[9]->IntegerValue());
break;
default:
stereo = new StereoSGBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue(), args[3]->IntegerValue(), args[4]->IntegerValue(), args[5]->IntegerValue(), args[6]->IntegerValue(), args[7]->IntegerValue(), args[8]->IntegerValue(), args[9]->IntegerValue(), args[10]->ToBoolean()->Value());
break;
}
}
else
{
NanThrowError("If overriding default settings, must pass minDisparity, numDisparities, and SADWindowSize");
NanReturnUndefined();
}
}
stereo->Wrap(args.Holder());
NanReturnValue(args.Holder());
}
StereoSGBM::StereoSGBM()
: ObjectWrap(), stereo()
{
}
StereoSGBM::StereoSGBM(int minDisparity, int ndisparities, int SADWindowSize, int p1, int p2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, bool fullDP)
: ObjectWrap(), stereo(minDisparity, ndisparities, SADWindowSize, p1, p2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, fullDP)
{
}
// TODO make this async
NAN_METHOD(StereoSGBM::Compute)
{
SETUP_FUNCTION(StereoSGBM)
try {
// Get the arguments
// Arg 0, the 'left' image
Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
cv::Mat left = m0->mat;
// Arg 1, the 'right' image
Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
cv::Mat right = m1->mat;
// Compute stereo using the block matching algorithm
cv::Mat disparity;
self->stereo(left, right, disparity);
// Wrap the returned disparity map
Local<Object> disparityWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
Matrix *disp = ObjectWrap::Unwrap<Matrix>(disparityWrap);
disp->mat = disparity;
NanReturnValue(disparityWrap);
} catch (cv::Exception &e) {
const char *err_msg = e.what();
NanThrowError(err_msg);
NanReturnUndefined();
}
};

24
src/Stereo.h
View File

@ -16,4 +16,28 @@ public:
JSFUNC(Compute);
};
class StereoSGBM: public node::ObjectWrap {
public:
cv::StereoSGBM stereo;
static Persistent<FunctionTemplate> constructor;
static void Init(Handle<Object> target);
static NAN_METHOD(New);
StereoSGBM();
StereoSGBM(int minDisparity,
int ndisparities,
int SADWindowSize,
int p1 = 0,
int p2 = 0,
int disp12MaxDiff = 0,
int preFilterCap = 0,
int uniquenessRatio = 0,
int speckleWindowSize = 0,
int speckleRange = 0,
bool fullDP = false);
JSFUNC(Compute);
};
#endif

1
src/init.cc
View File

@ -29,6 +29,7 @@ init(Handle<Object> target) {
Calib3D::Init(target);
ImgProc::Init(target);
StereoBM::Init(target);
StereoSGBM::Init(target);
#if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >=4