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Feature #3957

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This commit is contained in:
ValeryTyumen
2015-08-01 20:24:23 +05:00
committed by Maksim Shabunin
parent 5cdf0e3e89
commit 297808e6b9
57 changed files with 950 additions and 1052 deletions
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176
samples/cpp/stereo_match.cpp
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@@ -21,8 +21,8 @@ static 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|sgbm3way] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i=<intrinsic_filename>] [-e=<extrinsic_filename>]\n"
"[--no-display] [-o=<disparity_image>] [-p=<point_cloud_file>]\n");
}
static void saveXYZ(const char* filename, const Mat& mat)
@@ -43,114 +43,90 @@ static void saveXYZ(const char* filename, const Mat& mat)
int main(int argc, char** argv)
{
const char* algorithm_opt = "--algorithm=";
const char* maxdisp_opt = "--max-disparity=";
const char* blocksize_opt = "--blocksize=";
const char* nodisplay_opt = "--no-display";
const char* scale_opt = "--scale=";
std::string img1_filename = "";
std::string img2_filename = "";
std::string intrinsic_filename = "";
std::string extrinsic_filename = "";
std::string disparity_filename = "";
std::string point_cloud_filename = "";
if(argc < 3)
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4 };
int alg = STEREO_SGBM;
int SADWindowSize, numberOfDisparities;
bool no_display;
float scale;
Ptr<StereoBM> bm = StereoBM::create(16,9);
Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,16,3);
cv::CommandLineParser parser(argc, argv,
"{help h||}{algorithm||}{max-disparity|0|}{blocksize|0|}{no-display||}{scale|1|}{i||}{e||}{o||}{p||}");
if(parser.has("help"))
{
print_help();
return 0;
}
const char* img1_filename = 0;
const char* img2_filename = 0;
const char* intrinsic_filename = 0;
const char* extrinsic_filename = 0;
const char* disparity_filename = 0;
const char* point_cloud_filename = 0;
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4 };
int alg = STEREO_SGBM;
int SADWindowSize = 0, numberOfDisparities = 0;
bool no_display = false;
float scale = 1.f;
Ptr<StereoBM> bm = StereoBM::create(16,9);
Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,16,3);
for( int i = 1; i < argc; i++ )
img1_filename = parser.get<std::string>(0);
img2_filename = parser.get<std::string>(1);
if (parser.has("algorithm"))
{
if( argv[i][0] != '-' )
{
if( !img1_filename )
img1_filename = argv[i];
else
img2_filename = argv[i];
}
else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 )
{
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 :
strcmp(_alg, "var") == 0 ? STEREO_VAR :
strcmp(_alg, "sgbm3way") == 0 ? STEREO_3WAY : -1;
if( alg < 0 )
{
printf("Command-line parameter error: Unknown stereo algorithm\n\n");
print_help();
return -1;
}
}
else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 )
{
if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||
numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
{
printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
print_help();
return -1;
}
}
else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 )
{
if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||
SADWindowSize < 1 || SADWindowSize % 2 != 1 )
{
printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
return -1;
}
}
else if( strncmp(argv[i], scale_opt, strlen(scale_opt)) == 0 )
{
if( sscanf( argv[i] + strlen(scale_opt), "%f", &scale ) != 1 || scale < 0 )
{
printf("Command-line parameter error: The scale factor (--scale=<...>) must be a positive floating-point number\n");
return -1;
}
}
else if( strcmp(argv[i], nodisplay_opt) == 0 )
no_display = true;
else if( strcmp(argv[i], "-i" ) == 0 )
intrinsic_filename = argv[++i];
else if( strcmp(argv[i], "-e" ) == 0 )
extrinsic_filename = argv[++i];
else if( strcmp(argv[i], "-o" ) == 0 )
disparity_filename = argv[++i];
else if( strcmp(argv[i], "-p" ) == 0 )
point_cloud_filename = argv[++i];
else
{
printf("Command-line parameter error: unknown option %s\n", argv[i]);
return -1;
}
std::string _alg = parser.get<std::string>("algorithm");
alg = _alg == "bm" ? STEREO_BM :
_alg == "sgbm" ? STEREO_SGBM :
_alg == "hh" ? STEREO_HH :
_alg == "var" ? STEREO_VAR :
_alg == "sgbm3way" ? STEREO_3WAY : -1;
}
if( !img1_filename || !img2_filename )
numberOfDisparities = parser.get<int>("max-disparity");
SADWindowSize = parser.get<int>("blocksize");
scale = parser.get<float>("scale");
no_display = parser.has("no-display");
if( parser.has("i") )
intrinsic_filename = parser.get<std::string>("i");
if( parser.has("e") )
extrinsic_filename = parser.get<std::string>("e");
if( parser.has("o") )
disparity_filename = parser.get<std::string>("o");
if( parser.has("p") )
point_cloud_filename = parser.get<std::string>("p");
if (!parser.check())
{
parser.printErrors();
return 1;
}
if( alg < 0 )
{
printf("Command-line parameter error: Unknown stereo algorithm\n\n");
print_help();
return -1;
}
if ( numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
{
printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
print_help();
return -1;
}
if (scale < 0)
{
printf("Command-line parameter error: The scale factor (--scale=<...>) must be a positive floating-point number\n");
return -1;
}
if (SADWindowSize < 1 || SADWindowSize % 2 != 1)
{
printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
return -1;
}
if( img1_filename.empty() || img2_filename.empty() )
{
printf("Command-line parameter error: both left and right images must be specified\n");
return -1;
}
if( (intrinsic_filename != 0) ^ (extrinsic_filename != 0) )
if( (!intrinsic_filename.empty()) ^ (!extrinsic_filename.empty()) )
{
printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n");
return -1;
}
if( extrinsic_filename == 0 && point_cloud_filename )
if( extrinsic_filename.empty() && !point_cloud_filename.empty() )
{
printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");
return -1;
@@ -186,13 +162,13 @@ int main(int argc, char** argv)
Rect roi1, roi2;
Mat Q;
if( intrinsic_filename )
if( !intrinsic_filename.empty() )
{
// reading intrinsic parameters
FileStorage fs(intrinsic_filename, FileStorage::READ);
if(!fs.isOpened())
{
printf("Failed to open file %s\n", intrinsic_filename);
printf("Failed to open file %s\n", intrinsic_filename.c_str());
return -1;
}
@@ -208,7 +184,7 @@ int main(int argc, char** argv)
fs.open(extrinsic_filename, FileStorage::READ);
if(!fs.isOpened())
{
printf("Failed to open file %s\n", extrinsic_filename);
printf("Failed to open file %s\n", extrinsic_filename.c_str());
return -1;
}
@@ -297,16 +273,16 @@ int main(int argc, char** argv)
printf("\n");
}
if(disparity_filename)
if(!disparity_filename.empty())
imwrite(disparity_filename, disp8);
if(point_cloud_filename)
if(!point_cloud_filename.empty())
{
printf("storing the point cloud...");
fflush(stdout);
Mat xyz;
reprojectImageTo3D(disp, xyz, Q, true);
saveXYZ(point_cloud_filename, xyz);
saveXYZ(point_cloud_filename.c_str(), xyz);
printf("\n");
}