Added Stereo block matching algorithm

binding.gyp

@@ -16,6 +16,7 @@
         , "src/Constants.cc"
         , "src/Calib3D.cc"
         , "src/ImgProc.cc"
+        , "src/Stereo.cc"
         ]
       , 'libraries': [
           '<!@(pkg-config --libs opencv)'

src/Stereo.cc

@@ -0,0 +1,99 @@
+#include "Stereo.h"
+#include "Matrix.h"
+
+v8::Persistent<FunctionTemplate> StereoBM::constructor;
+
+void
+StereoBM::Init(Handle<Object> target) {
+    NanScope();
+
+    Local<FunctionTemplate> ctor = NanNew<FunctionTemplate>(StereoBM::New);
+    NanAssignPersistent(constructor, ctor);
+    ctor->InstanceTemplate()->SetInternalFieldCount(1);
+    ctor->SetClassName(NanNew("StereoBM"));
+
+    NODE_SET_PROTOTYPE_METHOD(ctor, "compute", Compute);
+
+    ctor->Set(NanNew<String>("BASIC_PRESET"), NanNew<Integer>((int)cv::StereoBM::BASIC_PRESET));
+    ctor->Set(NanNew<String>("FISH_EYE_PRESET"), NanNew<Integer>((int)cv::StereoBM::FISH_EYE_PRESET));
+    ctor->Set(NanNew<String>("NARROW_PRESET"), NanNew<Integer>((int)cv::StereoBM::NARROW_PRESET));
+
+    target->Set(NanNew("StereoBM"), ctor->GetFunction());
+}
+
+NAN_METHOD(StereoBM::New) {
+    NanScope();
+
+    if (args.This()->InternalFieldCount() == 0)
+        NanThrowTypeError("Cannot instantiate without new");
+
+    StereoBM *stereo;
+
+    if (args.Length() == 0)
+    {
+        stereo = new StereoBM();
+    }
+    else if (args.Length() == 1)
+    {
+        stereo = new StereoBM(args[0]->IntegerValue()); // preset
+    }
+    else if (args.Length() == 2)
+    {
+        stereo = new StereoBM(args[0]->IntegerValue(), args[1]->IntegerValue()); // preset, disparity search range
+    }
+    else
+    {
+        stereo = new StereoBM(args[0]->IntegerValue(), args[1]->IntegerValue(), args[2]->IntegerValue()); // preset, disparity search range, sum of absolute differences window size
+    }
+
+    stereo->Wrap(args.Holder());
+    NanReturnValue(args.Holder());
+}
+
+StereoBM::StereoBM(int preset, int ndisparities, int SADWindowSize)
+    : ObjectWrap(), stereo(preset, ndisparities, SADWindowSize)
+{
+
+}
+
+// TODO make this async
+NAN_METHOD(StereoBM::Compute)
+{
+    SETUP_FUNCTION(StereoBM)
+
+    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;
+
+        // Optional 3rd arg, the disparty depth
+        int type = CV_16S;
+        if(args.Length() > 2)
+        {
+            type = args[2]->IntegerValue();
+        }
+
+        // Compute stereo using the block matching algorithm
+        cv::Mat disparity;
+        self->stereo(left, right, disparity, type);
+
+        // 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();
+    }
+
+};

src/Stereo.h

@@ -0,0 +1,19 @@
+#ifndef __NODE_STEREO_H
+#define __NODE_STEREO_H
+
+#include "OpenCV.h"
+
+class StereoBM: public node::ObjectWrap {
+public:
+    cv::StereoBM stereo;
+
+    static Persistent<FunctionTemplate> constructor;
+    static void Init(Handle<Object> target);
+    static NAN_METHOD(New);
+
+    StereoBM(int preset = cv::StereoBM::BASIC_PRESET, int ndisparities = 0, int SADWindowSize=21);
+
+    JSFUNC(Compute);
+};
+
+#endif

src/init.cc

@@ -11,6 +11,7 @@
 #include "Constants.h"
 #include "Calib3D.h"
 #include "ImgProc.h"
+#include "Stereo.h"
 
 extern "C" void
 init(Handle<Object> target) {
@@ -27,6 +28,7 @@ init(Handle<Object> target) {
     Constants::Init(target);
     Calib3D::Init(target);
     ImgProc::Init(target);
+    StereoBM::Init(target);
 
 
    #if CV_MAJOR_VERSION >= 2 && CV_MINOR_VERSION >=4