opencv_dsm/ossimOpenCvDisparityMapGenerator.cpp at master · martidi/opencv_dsm · GitHub

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//----------------------------------------------------------------------------
//
// License:  See top level LICENSE.txt file.
//
// File: ossimOpenCvDisparityMapGenerator.cpp
//
// Author:  Martina Di Rita
//
// Description: Class providing Disparity Map extraction
//
//----------------------------------------------------------------------------

#include <ossim/imaging/ossimImageSource.h>

#include "ossimOpenCvDisparityMapGenerator.h"

#include <opencv2/highgui/highgui.hpp>
// Note: These are purposely commented out to indicate non-use.
// #include <opencv2/nonfree/nonfree.hpp>
// #include <opencv2/nonfree/features2d.hpp>
// Note: These are purposely commented out to indicate non-use.

#include <vector>
#include <iostream>

ossimOpenCvDisparityMapGenerator::ossimOpenCvDisparityMapGenerator()
{

}

cv::Mat ossimOpenCvDisparityMapGenerator::execute(cv::Mat master_mat, cv::Mat slave_mat)
{
	cout << "DISPARITY MAP GENERATION \t in progress..." << endl;

	//******************************************************
	// Abilitate for computing disparity on different scales
	//******************************************************
	/*
	double fscale = 1.0/2.0;
	cv::resize(master_mat, master_mat, cv::Size(), fscale, fscale, cv::INTER_AREA );
	cv::resize(slave_mat, slave_mat, cv::Size(), fscale, fscale, cv::INTER_AREA );
	cv::namedWindow( "Scaled master", CV_WINDOW_NORMAL );
	cv::imshow( "Scaled master", master_mat);
	cv::namedWindow( "Scaled slave", CV_WINDOW_NORMAL );
	cv::imshow( "Scaled slave", slave_mat);
	*/

    ndisparities = 16; //Maximum disparity minus minimum disparity
    minimumDisp = -8;
    SADWindowSize = 11; //Matched block size

	// Disparity Map generation
	int cn = master_mat.channels();
	cv::StereoSGBM sgbm;

	sgbm.preFilterCap = 63;
	sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
	sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.P2 = 64*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
	sgbm.minDisparity = minimumDisp; // Minimum possible disparity value  //con fattore di conversione 1 metti -16*2
	sgbm.numberOfDisparities = ndisparities;
    sgbm.uniquenessRatio = 5;
	sgbm.speckleWindowSize = 100;
	sgbm.speckleRange = 1;
	sgbm.disp12MaxDiff = 1; // Maximum allowed difference (in integer pixel units) in the left-right disparity check
    //sgbm.fullDP = true; //activate for consider 8 directions (Hirschmuller algorithm) instead of 5;

	double minVal, maxVal;
	cv::Mat array_disp;
	cv::Mat array_disp_8U;
	sgbm(master_mat, slave_mat, array_disp);
	minMaxLoc( array_disp, &minVal, &maxVal );
	array_disp.convertTo( array_disp_8U, CV_8UC1, 255/(maxVal - minVal), -minVal*255/(maxVal - minVal));
    cout << "min\t" << minVal << " " << "max\t" << maxVal << endl;
	cv::namedWindow( "SGM Disparity", CV_WINDOW_NORMAL );
	cv::imshow( "SGM Disparity", array_disp_8U);
	cv::imwrite( "SGM Disparity.tif", array_disp_8U);


	//******************************************************
	// Abilitate for computing disparity on different scales
	//******************************************************
	//array_disp = array_disp/fscale; // to consider the scale factor also in the disparity values (i singoli valori sono alterati)
	//cv::resize(array_disp, array_disp, cv::Size(), 1.0/fscale, 1.0/fscale, cv::INTER_AREA ); // to resize the disparity map as the initial image

    cv::waitKey(0);

	//Create and write the log file
	ofstream disparity;
	disparity.open ("DSM_parameters_disparity.txt");
	disparity <<"DISPARITY RANGE:" << " " << ndisparities << endl;
	disparity <<"SAD WINDOW SIZE:" << " " << SADWindowSize<< endl;
	disparity << "MINIMUM DISPARITY VALUE:"<< sgbm.minDisparity << endl;
	disparity.close();

	return array_disp;
}