removed preset parameter in createStereoBM, updated stereo_match sample

modules/calib3d/include/opencv2/calib3d/calib3d.hpp

@@ -677,10 +677,9 @@ public:
                                   OutputArray disparity ) = 0;
 };
 
-enum { STEREO_DISP_SCALE=16, STEREO_PREFILTER_NORMALIZED_RESPONSE = 0, STEREO_PREFILTER_XSOBEL = 1,
-    STEREOBM_BASIC_PRESET=0, STEREOBM_FISH_EYE_PRESET=1, STEREOBM_NARROW_PRESET=2 };
+enum { STEREO_DISP_SCALE=16, STEREO_PREFILTER_NORMALIZED_RESPONSE = 0, STEREO_PREFILTER_XSOBEL = 1 };
 
-CV_EXPORTS Ptr<StereoMatcher> createStereoBM(int preset, int numDisparities=0, int SADWindowSize=21);
+CV_EXPORTS Ptr<StereoMatcher> createStereoBM(int numDisparities=0, int SADWindowSize=21);
     
 CV_EXPORTS Ptr<StereoMatcher> createStereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
                                                int P1=0, int P2=0, int disp12MaxDiff=0,
@@ -695,9 +694,7 @@ class CV_EXPORTS_W StereoBM
 {
 public:
     enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
-        BASIC_PRESET=STEREOBM_BASIC_PRESET,
-        FISH_EYE_PRESET=STEREOBM_FISH_EYE_PRESET,
-        NARROW_PRESET=STEREOBM_NARROW_PRESET };
+           BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
 
     //! the default constructor
     CV_WRAP StereoBM();

modules/calib3d/src/compat_stereo.cpp

@@ -95,8 +95,7 @@ void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
 
     CV_Assert( state != 0 );
 
-    cv::Ptr<cv::StereoMatcher> sm = cv::createStereoBM(cv::STEREOBM_BASIC_PRESET,
-                                                       state->numberOfDisparities,
+    cv::Ptr<cv::StereoMatcher> sm = cv::createStereoBM(state->numberOfDisparities,
                                                        state->SADWindowSize);
     sm->set("preFilterType", state->preFilterType);
     sm->set("preFilterSize", state->preFilterSize);
@@ -130,7 +129,7 @@ namespace cv
 {
 
 StereoBM::StereoBM()
-{ init(STEREOBM_BASIC_PRESET); }
+{ init(BASIC_PRESET); }
 
 StereoBM::StereoBM(int _preset, int _ndisparities, int _SADWindowSize)
 { init(_preset, _ndisparities, _SADWindowSize); }

modules/calib3d/src/stereobm.cpp

@@ -54,7 +54,7 @@ namespace cv
 
 struct StereoBMParams
 {
-    StereoBMParams(int _preset=STEREOBM_BASIC_PRESET, int _numDisparities=64, int _SADWindowSize=21)
+    StereoBMParams(int _numDisparities=64, int _SADWindowSize=21)
     {
         preFilterType = STEREO_PREFILTER_XSOBEL;
         preFilterSize = 9;
@@ -780,9 +780,9 @@ public:
         params = StereoBMParams();
     }
 
-    StereoBMImpl( int _preset, int _numDisparities, int _SADWindowSize )
+    StereoBMImpl( int _numDisparities, int _SADWindowSize )
     {
-        params = StereoBMParams(_preset, _numDisparities, _SADWindowSize);
+        params = StereoBMParams(_numDisparities, _SADWindowSize);
     }
     
     void compute( InputArray leftarr, InputArray rightarr, OutputArray disparr )
@@ -927,9 +927,9 @@ CV_INIT_ALGORITHM(StereoBMImpl, "StereoMatcher.BM",
 
 }
 
-cv::Ptr<cv::StereoMatcher> cv::createStereoBM(int _preset, int _numDisparities, int _SADWindowSize)
+cv::Ptr<cv::StereoMatcher> cv::createStereoBM(int _numDisparities, int _SADWindowSize)
 {
-    return new StereoBMImpl(_preset, _numDisparities, _SADWindowSize);
+    return new StereoBMImpl(_numDisparities, _SADWindowSize);
 }
 
 /* End of file. */

samples/cpp/stereo_match.cpp

@@ -66,8 +66,8 @@ int main(int argc, char** argv)
     bool no_display = false;
     float scale = 1.f;
 
-    StereoBM bm;
-    StereoSGBM sgbm;
+    Ptr<StereoMatcher> bm = createStereoBM(16,9);
+    Ptr<StereoMatcher> sgbm = createStereoSGBM(0,16,3);
     StereoVar var;
 
     for( int i = 1; i < argc; i++ )
@@ -220,32 +220,33 @@ int main(int argc, char** argv)
 
     numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : ((img_size.width/8) + 15) & -16;
 
-    bm.state->roi1 = roi1;
-    bm.state->roi2 = roi2;
-    bm.state->preFilterCap = 31;
-    bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;
-    bm.state->minDisparity = 0;
-    bm.state->numberOfDisparities = numberOfDisparities;
-    bm.state->textureThreshold = 10;
-    bm.state->uniquenessRatio = 15;
-    bm.state->speckleWindowSize = 100;
-    bm.state->speckleRange = 32;
-    bm.state->disp12MaxDiff = 1;
-
-    sgbm.preFilterCap = 63;
-    sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
+    //bm->set("roi1", roi1);
+    //bm->set("roi2", roi2);
+    bm->set("preFilterCap", 31);
+    bm->set("SADWindowSize", SADWindowSize > 0 ? SADWindowSize : 9);
+    bm->set("minDisparity", 0);
+    bm->set("numDisparities", numberOfDisparities);
+    bm->set("textureThreshold", 10);
+    bm->set("uniquenessRatio", 15);
+    bm->set("speckleWindowSize", 100);
+    bm->set("speckleRange", 32);
+    bm->set("disp12MaxDiff", 1);
+
+    sgbm->set("preFilterCap", 63);
+    int sgbmWinSize = SADWindowSize > 0 ? SADWindowSize : 3;
+    sgbm->set("SADWindowSize", sgbmWinSize);
 
     int cn = img1.channels();
 
-    sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
-    sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
-    sgbm.minDisparity = 0;
-    sgbm.numberOfDisparities = numberOfDisparities;
-    sgbm.uniquenessRatio = 10;
-    sgbm.speckleWindowSize = bm.state->speckleWindowSize;
-    sgbm.speckleRange = bm.state->speckleRange;
-    sgbm.disp12MaxDiff = 1;
-    sgbm.fullDP = alg == STEREO_HH;
+    sgbm->set("P1", 8*cn*sgbmWinSize*sgbmWinSize);
+    sgbm->set("P2", 32*cn*sgbmWinSize*sgbmWinSize);
+    sgbm->set("minDisparity", 0);
+    sgbm->set("numDisparities", numberOfDisparities);
+    sgbm->set("uniquenessRatio", 10);
+    sgbm->set("speckleWindowSize", 100);
+    sgbm->set("speckleRange", 32);
+    sgbm->set("disp12MaxDiff", 1);
+    sgbm->set("fullDP", alg == STEREO_HH);
 
     var.levels = 3;                                 // ignored with USE_AUTO_PARAMS
     var.pyrScale = 0.5;                             // ignored with USE_AUTO_PARAMS
@@ -267,12 +268,12 @@ int main(int argc, char** argv)
 
     int64 t = getTickCount();
     if( alg == STEREO_BM )
-        bm(img1, img2, disp);
+        bm->compute(img1, img2, disp);
     else if( alg == STEREO_VAR ) {
         var(img1, img2, disp);
     }
     else if( alg == STEREO_SGBM || alg == STEREO_HH )
-        sgbm(img1, img2, disp);
+        sgbm->compute(img1, img2, disp);
     t = getTickCount() - t;
     printf("Time elapsed: %fms\n", t*1000/getTickFrequency());