#include "DisparityCostVolumeEstimator.hpp" #include "DisparityCostVolume.hpp" #include "stereo_matching/cost_functions.hpp" #include "helpers/get_option_value.hpp" #include "helpers/fill_multi_array.hpp" #include <boost/gil/image_view_factory.hpp> namespace doppia { using namespace boost; using namespace boost::gil; using namespace std; typedef DisparityCostVolume::range_t range_t; typedef DisparityCostVolume::const_data_2d_view_t const_data_2d_view_t; typedef DisparityCostVolume::const_data_1d_view_t const_data_1d_view_t; typedef DisparityCostVolume::const_data_2d_subarray_t const_data_2d_subarray_t; typedef DisparityCostVolume::const_data_1d_subarray_t const_data_1d_subarray_t; typedef DisparityCostVolume::data_3d_view_t data_3d_view_t; program_options::options_description DisparityCostVolumeEstimator::get_args_options() { program_options::options_description desc("DisparityCostVolumeEstimator options"); const bool simple_block_matcher_options_are_included = true; if(not simple_block_matcher_options_are_included) { desc.add_options() ("pixels_matching", program_options::value<string>()->default_value("sad"), "pixels matching method: sad, ssd, census or gradient") ("threshold", program_options::value<float>()->default_value(0.5), "minimum percent of pixels required to declare a match value between [0,1]") ; } return desc; } DisparityCostVolumeEstimator::DisparityCostVolumeEstimator() : AbstractDisparityCostVolumeEstimator() { // this constructor should only be used for unit testing return; } DisparityCostVolumeEstimator::DisparityCostVolumeEstimator(const program_options::variables_map &options) : AbstractDisparityCostVolumeEstimator(options) { threshold_percent = get_option_value<float>(options,"threshold"); assert(threshold_percent > 0.0f); assert(threshold_percent <= 1.0f); return; } DisparityCostVolumeEstimator::~DisparityCostVolumeEstimator() { // nothing to do here return; } void DisparityCostVolumeEstimator::compute(gil::gray8c_view_t &left, gil::gray8c_view_t &right, DisparityCostVolume &cost_volume) { compute_impl(left, right, cost_volume); return; } void DisparityCostVolumeEstimator::compute(gil::rgb8c_view_t &left, gil::rgb8c_view_t &right, DisparityCostVolume &cost_volume) { compute_impl(left, right, cost_volume); return; } template <typename ImgView> void DisparityCostVolumeEstimator::compute_impl( ImgView &left, ImgView &right, DisparityCostVolume &cost_volume) { if (pixels_matching_method == "sad") { if(first_computation) { printf("DisparityCostVolumeEstimator::compute_impl will use sad matching over %zi disparities ", max_disparity); } SadCostFunctionT<uint8_t> pixels_distance; compute_costs_impl(left, right, pixels_distance, cost_volume); } else if (pixels_matching_method == "ssd") { if(first_computation) { printf("DisparityCostVolumeEstimator::compute_impl will use ssd matching over %zi disparities ", max_disparity); } SsdCostFunction pixels_distance; compute_costs_impl(left, right, pixels_distance, cost_volume); } else { printf("DisparityCostVolumeEstimator::compute_impl received an unknow pixels_matching_method value == %s ", pixels_matching_method.c_str()); throw std::invalid_argument("DisparityCostVolumeEstimator::compute_impl received an unknow pixels_matching_method"); } first_computation = false; return; } template <typename ImgView, typename PixelsCostType> inline void compute_costs_for_disparity(const ImgView &left, const ImgView &right, PixelsCostType &pixels_distance, const int disparity, DisparityCostVolume::data_2d_view_t &disparity_cost_view) { typedef typename ImgView::value_type pixel_t; typedef DisparityCostVolume::data_1d_subarray_t data_1d_subarray_t; // a pixel (x,y) on the left image should be matched on the right image on the range ([0,x],y) //const int first_right_x = first_left_x - disparity; for(int y=0; y < left.height(); y+=1) { typename ImgView::x_iterator left_row_it = left.x_at(disparity, y); typename ImgView::x_iterator right_row_it = right.row_begin(y); data_1d_subarray_t cost_row_subarray = disparity_cost_view[y]; data_1d_subarray_t::iterator cost_it = cost_row_subarray.begin() + disparity; for(int left_x=disparity; left_x < left.width(); left_x+=1, ++left_row_it, ++right_row_it, ++cost_it) { const DisparityCostVolume::cost_t pixel_cost = pixels_distance(*left_row_it, *right_row_it); *cost_it = pixel_cost; } // end of 'for each row' } // end of 'for each column' return; } template <typename ImgView, typename PixelsCostType> void DisparityCostVolumeEstimator::compute_costs_impl(const ImgView &left, const ImgView &right, PixelsCostType &pixels_distance, DisparityCostVolume &cost_volume) { typedef typename ImgView::value_type pixel_t; maximum_cost_per_pixel = pixels_distance.template get_maximum_cost_per_pixel<pixel_t>(); // lazy initialization this->resize_cost_volume(left.dimensions(), cost_volume); const bool crop_borders = false; if(crop_borders) { // FIXME hardcoded values const int top_bottom_margin = 25; // 20 // 10 // pixels const int left_right_margin = 40; //left.width()*0.1; // *0.05 // pixels const int sub_width = left.width() - 2*left_right_margin, sub_height = left.height() - 2*top_bottom_margin; const ImgView left_subview = boost::gil::subimage_view(left, left_right_margin, top_bottom_margin, sub_width, sub_height), right_subview = boost::gil::subimage_view(right, left_right_margin,top_bottom_margin, sub_width, sub_height); const int y_min = top_bottom_margin, y_max = left.height() - top_bottom_margin; const int x_min = left_right_margin, x_max = left.width() - left_right_margin; data_3d_view_t data = cost_volume.get_costs_views(); data_3d_view_t data_subview = data[ boost::indices[range_t(y_min, y_max)][range_t(x_min, x_max)][range_t()] ]; // fill the original volumn with zero fill(cost_volume.get_costs_views(), 0); #pragma omp parallel for for(size_t disparity=0; disparity < max_disparity; disparity +=1) { DisparityCostVolume::data_2d_view_t disparity_slice = data_subview[ boost::indices[range_t()][range_t()][disparity] ]; compute_costs_for_disparity(left_subview, right_subview, pixels_distance, disparity, disparity_slice); } } else { // for each pixel and each disparity value #pragma omp parallel for for(size_t disparity=0; disparity < max_disparity; disparity +=1) { data_3d_view_t data = cost_volume.get_costs_views(); DisparityCostVolume::data_2d_view_t disparity_slice = data[ boost::indices[range_t()][range_t()][disparity] ]; compute_costs_for_disparity(left, right, pixels_distance, disparity, disparity_slice); } } // end of "if else crop_borders" return; } } // end of namespace doppia
ImgView这个模版类没有找到
SsdCostFunction、SadCostFunctionT来自cost_functions.hpp,实际上就是具体值怎么计算