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added convert into gray and prefilter Sobel controls (for gpu stereo sample)

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This commit is contained in:
Alexey Spizhevoy 2010-12-21 09:49:58 +00:00
parent bdf6f0258c
commit 65a356ebdd
1 changed files with 64 additions and 13 deletions
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77
samples/gpu/stereo_match.cpp
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@ -58,6 +58,10 @@ private:
Params p; Params p;
bool running; bool running;
Mat left_src, right_src;
Mat left, right;
gpu::GpuMat d_left, d_right;
gpu::StereoBM_GPU bm; gpu::StereoBM_GPU bm;
gpu::StereoBeliefPropagation bp; gpu::StereoBeliefPropagation bp;
gpu::StereoConstantSpaceBP csbp; gpu::StereoConstantSpaceBP csbp;
@ -128,7 +132,9 @@ App::App(const Params& p)
cout << "\nControls:\n" cout << "\nControls:\n"
<< "\tesc - exit\n" << "\tesc - exit\n"
<< "\tp - print current parameters\n" << "\tp - print current parameters\n"
<< "\tg - convert source images into gray\n"
<< "\tm - change stereo match method\n" << "\tm - change stereo match method\n"
<< "\ts - change Sobel prefiltering flag (for BM only)\n"
<< "\t1/q - increase/decrease maximum disparity\n" << "\t1/q - increase/decrease maximum disparity\n"
<< "\t2/w - increase/decrease window size (for BM only)\n" << "\t2/w - increase/decrease window size (for BM only)\n"
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n" << "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
@ -138,17 +144,13 @@ App::App(const Params& p)
void App::run() void App::run()
{ {
Mat left, right;
Mat left_aux, right_aux;
gpu::GpuMat d_left, d_right;
// Load images // Load images
left_aux = imread(p.left); left_src = imread(p.left);
right_aux = imread(p.right); right_src = imread(p.right);
if (left_aux.empty()) throw runtime_error("can't open file \"" + p.left + "\""); if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
if (right_aux.empty()) throw runtime_error("can't open file \"" + p.right + "\""); if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
cvtColor(left_aux, left, CV_BGR2GRAY); cvtColor(left_src, left, CV_BGR2GRAY);
cvtColor(right_aux, right, CV_BGR2GRAY); cvtColor(right_src, right, CV_BGR2GRAY);
d_left = left; d_left = left;
d_right = right; d_right = right;
@ -164,7 +166,7 @@ void App::run()
Mat disp(left.size(), CV_8U); Mat disp(left.size(), CV_8U);
gpu::GpuMat d_disp(left.size(), CV_8U); gpu::GpuMat d_disp(left.size(), CV_8U);
cout << "\nimage_size: (" << left.cols << ", " << left.rows << ")\n"; cout << endl;
printParams(); printParams();
running = true; running = true;
@ -173,7 +175,20 @@ void App::run()
workBegin(); workBegin();
switch (p.method) switch (p.method)
{ {
case Params::BM: bm(d_left, d_right, d_disp); break; case Params::BM:
if (d_left.channels() > 1 || d_right.channels() > 1)
{
cout << "BM doesn't support color images\n";
cvtColor(left_src, left, CV_BGR2GRAY);
cvtColor(right_src, right, CV_BGR2GRAY);
cout << "image_channels: " << left.channels() << endl;
d_left = left;
d_right = right;
imshow("left", left);
imshow("right", right);
}
bm(d_left, d_right, d_disp);
break;
case Params::BP: bp(d_left, d_right, d_disp); break; case Params::BP: bp(d_left, d_right, d_disp); break;
case Params::CSBP: csbp(d_left, d_right, d_disp); break; case Params::CSBP: csbp(d_left, d_right, d_disp); break;
} }
@ -192,12 +207,15 @@ void App::run()
void App::printParams() const void App::printParams() const
{ {
cout << "--- Parameters ---\n"; cout << "--- Parameters ---\n";
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
cout << "image_channels: " << left.channels() << endl;
cout << "method: " << p.method_str() << endl cout << "method: " << p.method_str() << endl
<< "ndisp: " << p.ndisp << endl; << "ndisp: " << p.ndisp << endl;
switch (p.method) switch (p.method)
{ {
case Params::BM: case Params::BM:
cout << "win_size: " << bm.winSize << endl; cout << "win_size: " << bm.winSize << endl;
cout << "prefilter_sobel: " << bm.preset << endl;
break; break;
case Params::BP: case Params::BP:
cout << "iter_count: " << bp.iters << endl; cout << "iter_count: " << bp.iters << endl;
@ -222,6 +240,23 @@ void App::handleKey(char key)
case 'p': case 'P': case 'p': case 'P':
printParams(); printParams();
break; break;
case 'g': case 'G':
if (left.channels() == 1 && p.method != Params::BM)
{
left = left_src;
right = right_src;
}
else
{
cvtColor(left_src, left, CV_BGR2GRAY);
cvtColor(right_src, right, CV_BGR2GRAY);
}
d_left = left;
d_right = right;
cout << "image_channels: " << left.channels() << endl;
imshow("left", left);
imshow("right", right);
break;
case 'm': case 'M': case 'm': case 'M':
switch (p.method) switch (p.method)
{ {
@ -237,6 +272,21 @@ void App::handleKey(char key)
} }
cout << "method: " << p.method_str() << endl; cout << "method: " << p.method_str() << endl;
break; break;
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm.preset)
{
case gpu::StereoBM_GPU::BASIC_PRESET:
bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
break;
case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
break;
}
cout << "prefilter_sobel: " << bm.preset << endl;
}
break;
case '1': case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8; p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl; cout << "ndisp: " << p.ndisp << endl;
@ -254,7 +304,7 @@ void App::handleKey(char key)
case '2': case '2':
if (p.method == Params::BM) if (p.method == Params::BM)
{ {
bm.winSize += 1; bm.winSize = min(bm.winSize + 1, 51);
cout << "win_size: " << bm.winSize << endl; cout << "win_size: " << bm.winSize << endl;
} }
break; break;
@ -316,3 +366,4 @@ void App::handleKey(char key)
} }
} }