Initial commit: Speckle-Scanner 3D pipeline with setup README

2026-06-10 03:09:05 +05:00
commit 1765934846
375 changed files with 123081 additions and 0 deletions
@@ -0,0 +1,84 @@
+#ifndef __LIBSGM_WRAPPER_H__
+#define __LIBSGM_WRAPPER_H__
+
+#include "libsgm.h"
+
+#include <memory>
+#ifdef BUILD_OPENCV_WRAPPER
+#include <opencv2/core/cuda.hpp>
+#endif
+
+namespace sgm
+{
+
+/**
+* @brief LibSGMWrapper class which is wrapper for sgm::StereoSGM.
+*/
+class LibSGMWrapper
+{
+public:
+
+	/**
+	* @param numDisparity Maximum disparity minus minimum disparity.
+	* @param P1 Penalty on the disparity change by plus or minus 1 between nieghbor pixels.
+	* @param P2 Penalty on the disparity change by more than 1 between neighbor pixels.
+	* @param uniquenessRatio Margin in ratio by which the best cost function value should be at least second one.
+	* @param subpixel Disparity value has 4 fractional bits if subpixel option is enabled.
+	* @param pathType Number of scanlines used in cost aggregation.
+	* @param minDisparity Minimum possible disparity value.
+	* @param lrMaxDiff Acceptable difference pixels which is used in LR check consistency. LR check consistency will be disabled if this value is set to negative.
+	* @param censusType Type of census transform.
+	*/
+	LIBSGM_API LibSGMWrapper(int numDisparity = 128, int P1 = 10, int P2 = 120, float uniquenessRatio = 0.95f,
+		bool subpixel = false, PathType pathType = PathType::SCAN_8PATH, int minDisparity = 0, int lrMaxDiff = 1, CensusType censusType = CensusType::SYMMETRIC_CENSUS_9x7);
+	LIBSGM_API ~LibSGMWrapper();
+
+	LIBSGM_API int getNumDisparities() const;
+	LIBSGM_API int getP1() const;
+	LIBSGM_API int getP2() const;
+	LIBSGM_API float getUniquenessRatio() const;
+	LIBSGM_API bool hasSubpixel() const;
+	LIBSGM_API PathType getPathType() const;
+	LIBSGM_API int getMinDisparity() const;
+	LIBSGM_API int getLrMaxDiff() const;
+	LIBSGM_API CensusType getCensusType() const;
+	LIBSGM_API int getInvalidDisparity() const;
+
+#ifdef BUILD_OPENCV_WRAPPER
+
+	/**
+	* Execute stereo semi global matching via wrapper class.
+	* @param I1        Input left image.  Image's type is must be CV_8U, CV_16U or CV_32S
+	* @param I2        Input right image.  Image's size and type must be same with I1.
+	* @param disparity Output image.  Its memory will be allocated automatically dependent on input image size.
+	* @attention
+	* type of output image `disparity` is CV_16S.
+	* Note that disparity element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
+	*/
+	LIBSGM_API void execute(const cv::cuda::GpuMat& I1, const cv::cuda::GpuMat& I2, cv::cuda::GpuMat& disparity);
+
+	/**
+	* Execute stereo semi global matching via wrapper class.
+	* @param I1        Input left image.  Image's type is must be CV_8U, CV_16U or CV_32S.
+	* @param I2        Input right image.  Image's size and type must be same with I1.
+	* @param disparity Output image.  Its memory will be allocated automatically dependent on input image size.
+	* @attention
+	* type of output image `disparity` is CV_16S.
+	* Note that disparity element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
+	*/
+	LIBSGM_API void execute(const cv::Mat& I1, const cv::Mat& I2, cv::Mat& disparity);
+
+#endif // BUILD_OPRENCV_WRAPPER
+
+private:
+
+	struct Creator;
+	std::unique_ptr<sgm::StereoSGM> sgm_;
+	int numDisparity_;
+	sgm::StereoSGM::Parameters param_;
+	std::unique_ptr<Creator> prev_;
+};
+
+} // namespace sgm
+
+#endif // __LIBSGM_WRAPPER_H__