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added variational stereo correspondence (by Sergey Kosov) and polynomial fitting (by Onkar Raut)

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This commit is contained in:
Vadim Pisarevsky
2011-06-15 12:10:33 +00:00
parent 0d09352fca
commit 0876f69dbf
4 changed files with 581 additions and 132 deletions
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33
samples/cpp/stereo_match.cpp
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@@ -10,6 +10,7 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/contrib.hpp"
#include <stdio.h>
@@ -18,7 +19,7 @@ using namespace cv;
void print_help()
{
printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|var] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
}
@@ -59,13 +60,14 @@ int main(int argc, char** argv)
const char* disparity_filename = 0;
const char* point_cloud_filename = 0;
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3 };
int alg = STEREO_SGBM;
int SADWindowSize = 0, numberOfDisparities = 0;
bool no_display = false;
StereoBM bm;
StereoSGBM sgbm;
StereoVar var;
for( int i = 1; i < argc; i++ )
{
@@ -81,7 +83,8 @@ int main(int argc, char** argv)
char* _alg = argv[i] + strlen(algorithm_opt);
alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;
strcmp(_alg, "hh") == 0 ? STEREO_HH :
strcmp(_alg, "var") == 0 ? STEREO_VAR : -1;
if( alg < 0 )
{
printf("Command-line parameter error: Unknown stereo algorithm\n\n");
@@ -192,7 +195,7 @@ int main(int argc, char** argv)
img2 = img2r;
}
numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;
numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : ((img_size.width/8) + 15) & -16;
bm.state->roi1 = roi1;
bm.state->roi2 = roi2;
@@ -221,6 +224,19 @@ int main(int argc, char** argv)
sgbm.disp12MaxDiff = 1;
sgbm.fullDP = alg == STEREO_HH;
var.levels = 6;
var.pyrScale = 0.6;
var.nIt = 3;
var.minDisp = -numberOfDisparities;
var.maxDisp = 0;
var.poly_n = 3;
var.poly_sigma = 0.0;
var.fi = 5.0f;
var.lambda = 0.1;
var.penalization = var.PENALIZATION_TICHONOV;
var.cycle = var.CYCLE_V;
var.flags = var.USE_SMART_ID | var.USE_INITIAL_DISPARITY | 1 * var.USE_MEDIAN_FILTERING ;
Mat disp, disp8;
//Mat img1p, img2p, dispp;
//copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
@@ -229,13 +245,18 @@ int main(int argc, char** argv)
int64 t = getTickCount();
if( alg == STEREO_BM )
bm(img1, img2, disp);
else
else if( alg == STEREO_VAR )
var(img1, img2, disp);
else if( alg == STEREO_SGBM || alg == STEREO_HH )
sgbm(img1, img2, disp);
t = getTickCount() - t;
printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
//disp = dispp.colRange(numberOfDisparities, img1p.cols);
disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
if( alg != STEREO_VAR )
disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
else
disp.convertTo(disp8, CV_8U);
if( !no_display )
{
namedWindow("left", 1);