www.pudn.com > Estereo.rar > reconst3D.cpp

/***************************************************************************  
* 
* Copyright 2004 by the Massachusetts Institute  of Technology.   All    
* rights reserved.  
*   
* Developed  by David Demirdjian 
* at the Computer Sciences and Artificial Intelligence Laboratory,  
* MIT, Cambridge, Massachusetts.  
*   
* Permission to use, copy, or modify this software and  its documentation  
* for  educational  and  research purposes only and without fee  is hereby  
* granted, provided  that this copyright notice and the original authors's  
* names appear  on all copies and supporting documentation.  If individual  
* files are  separated from  this  distribution directory  structure, this  
* copyright notice must be included.  For any other uses of this software,  
* in original or  modified form, including but not limited to distribution  
* in whole or in  part, specific  prior permission  must be  obtained from  
* MIT.  These programs shall not  be  used, rewritten, or  adapted as  the  
* basis  of  a  commercial  software  or  hardware product  without  first  
* obtaining appropriate licenses  from MIT.  MIT. makes no representations  
* about the suitability of this  software for any purpose.  It is provided  
* "as is" without express or implied warranty.  
*   
**************************************************************************/ 
#include "stereoMatching.h" 
#include "processingMMX.h" 
 
#define _DDMIN(X,Y) ((X<=Y)?(X):(Y)) 
#define _DDMAX(X,Y) ((X>=Y)?(X):(Y)) 
 
void StereoMatching::setCameraParameters(float f, float b, float u, float v) 
{ 
	focal = f; 
	baseline = b; 
	u0 = u; 
	v0 = v; 
} 
 
void StereoMatching::getCameraParameters(float& f, float& b, float& u, float& v) const 
{ 
	f = focal; 
	b = baseline; 
	u = u0; 
	v = v0; 
} 
 
// 3D reconstruction 
// idx is passed to give (x,y) location 
void StereoMatching::doReconstruction(const int* idx, const float* subpixel_depth_list, int nbPoints, 								  
										float* X_list, float* Y_list, float* Z_list) 
{ 
	float disp; 
	if (nbPoints > 0) 
	{ 
		int i; 
		short x,y; 
 
		for (i=0; i 0) 
	{		 
		for (int i=0; i