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

2026-06-10 03:09:05 +05:00
commit 1765934846
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+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include <iostream>
+#include <chrono>
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+
+#include <libsgm.h>
+
+#include "sample_common.h"
+
+static const std::string keys =
+"{ @left-image-format  | <none> | format string for path to input left image  }"
+"{ @right-image-format | <none> | format string for path to input right image }"
+"{ disp_size           |    128 | maximum possible disparity value            }"
+"{ start_number        |      0 | index to start reading                      }"
+"{ help h              |        | display this help and exit                  }";
+
+int main(int argc, char* argv[])
+{
+	cv::CommandLineParser parser(argc, argv, keys);
+	if (parser.has("help")) {
+		parser.printMessage();
+		return 0;
+	}
+
+	const std::string image_format_L = parser.get<cv::String>("@left-image-format");
+	const std::string image_format_R = parser.get<cv::String>("@right-image-format");
+	const int disp_size = parser.get<int>("disp_size");
+	const int start_number = parser.get<int>("start_number");
+
+	if (!parser.check()) {
+		parser.printErrors();
+		parser.printMessage();
+		std::exit(EXIT_FAILURE);
+	}
+
+	cv::Mat I1 = cv::imread(cv::format(image_format_L.c_str(), start_number), cv::IMREAD_UNCHANGED);
+	cv::Mat I2 = cv::imread(cv::format(image_format_R.c_str(), start_number), cv::IMREAD_UNCHANGED);
+
+	ASSERT_MSG(!I1.empty() && !I2.empty(), "imread failed.");
+	if (I1.channels() > 1) cv::cvtColor(I1, I1, cv::COLOR_BGR2GRAY);
+	if (I2.channels() > 1) cv::cvtColor(I2, I2, cv::COLOR_BGR2GRAY);
+	ASSERT_MSG(I1.size() == I2.size() && I1.type() == I2.type(), "input images must be same size and type.");
+	ASSERT_MSG(I1.type() == CV_8U || I1.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
+	ASSERT_MSG(disp_size == 64 || disp_size == 128 || disp_size == 256, "disparity size must be 64, 128 or 256.");
+
+	const int width = I1.cols;
+	const int height = I1.rows;
+
+	const int src_depth = I1.type() == CV_8U ? 8 : 16;
+	const int dst_depth = disp_size < 256 ? 8 : 16;
+	const int src_bytes = src_depth * width * height / 8;
+	const int dst_bytes = dst_depth * width * height / 8;
+
+	sgm::StereoSGM sgm(width, height, disp_size, src_depth, dst_depth, sgm::EXECUTE_INOUT_CUDA2CUDA);
+
+	device_buffer d_I1(src_bytes), d_I2(src_bytes), d_disparity(dst_bytes);
+	cv::Mat disparity(height, width, dst_depth == 8 ? CV_8S : CV_16S), disparity_color;
+
+	const int invalid_disp = sgm.get_invalid_disparity();
+
+	for (int frame_no = start_number;; frame_no++) {
+
+		I1 = cv::imread(cv::format(image_format_L.c_str(), frame_no), cv::IMREAD_UNCHANGED);
+		I2 = cv::imread(cv::format(image_format_R.c_str(), frame_no), cv::IMREAD_UNCHANGED);
+		if (I1.empty() || I2.empty()) {
+			frame_no = start_number - 1;
+			continue;
+		}
+		if (I1.channels() > 1) cv::cvtColor(I1, I1, cv::COLOR_BGR2GRAY);
+		if (I2.channels() > 1) cv::cvtColor(I2, I2, cv::COLOR_BGR2GRAY);
+
+		d_I1.upload(I1.data);
+		d_I2.upload(I2.data);
+
+		const auto t1 = std::chrono::system_clock::now();
+
+		sgm.execute(d_I1.data, d_I2.data, d_disparity.data);
+		cudaDeviceSynchronize();
+
+		const auto t2 = std::chrono::system_clock::now();
+		const auto duration = std::chrono::duration_cast<std::chrono::microseconds>(t2 - t1).count();
+		const double fps = 1e6 / duration;
+
+		d_disparity.download(disparity.data);
+
+		// draw results
+		if (I1.type() != CV_8U)
+			cv::normalize(I1, I1, 0, 255, cv::NORM_MINMAX, CV_8U);
+
+		colorize_disparity(disparity, disparity_color, disp_size, disparity == invalid_disp);
+		cv::putText(disparity_color, cv::format("sgm execution time: %4.1f[msec] %4.1f[FPS]",
+			1e-3 * duration, fps), cv::Point(50, 50), 2, 0.75, cv::Scalar(255, 255, 255));
+
+		cv::imshow("left image", I1);
+		cv::imshow("disparity", disparity_color);
+
+		const char c = cv::waitKey(1);
+		if (c == 27) // ESC
+			break;
+	}
+
+	return 0;
+}