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added improved version of the variational stereo correspondence algorithm by Sergey Kosov

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This commit is contained in:
Vadim Pisarevsky
2011-07-14 15:30:28 +00:00
parent 5f0c312087
commit 7702fa4d61
3 changed files with 193 additions and 77 deletions
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47
samples/cpp/stereo_match.cpp
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@@ -20,7 +20,7 @@ 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|var] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\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");
}
@@ -40,18 +40,18 @@ void saveXYZ(const char* filename, const Mat& mat)
fclose(fp);
}
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=";
if(argc < 3)
{
print_help();
return 0;
return 0;
}
const char* img1_filename = 0;
const char* img2_filename = 0;
@@ -64,6 +64,7 @@ int main(int argc, char** argv)
int alg = STEREO_SGBM;
int SADWindowSize = 0, numberOfDisparities = 0;
bool no_display = false;
float scale = 1.f;
StereoBM bm;
StereoSGBM sgbm;
@@ -111,6 +112,14 @@ int main(int argc, char** argv)
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 )
@@ -149,6 +158,17 @@ int main(int argc, char** argv)
int color_mode = alg == STEREO_BM ? 0 : -1;
Mat img1 = imread(img1_filename, color_mode);
Mat img2 = imread(img2_filename, color_mode);
if( scale != 1.f )
{
Mat temp1, temp2;
int method = scale < 1 ? INTER_AREA : INTER_CUBIC;
resize(img1, temp1, Size(), scale, scale, method);
img1 = temp1;
resize(img2, temp2, Size(), scale, scale, method);
img2 = temp2;
}
Size img_size = img1.size();
Rect roi1, roi2;
@@ -224,18 +244,18 @@ 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.levels = 3; // ignored with USE_AUTO_PARAMS
var.pyrScale = 0.5; // ignored with USE_AUTO_PARAMS
var.nIt = 25;
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 ;
var.fi = 15.0f;
var.lambda = 0.03f;
var.penalization = var.PENALIZATION_TICHONOV; // ignored with USE_AUTO_PARAMS
var.cycle = var.CYCLE_V; // ignored with USE_AUTO_PARAMS
var.flags = var.USE_SMART_ID | var.USE_AUTO_PARAMS | var.USE_INITIAL_DISPARITY | var.USE_MEDIAN_FILTERING ;
Mat disp, disp8;
//Mat img1p, img2p, dispp;
@@ -245,8 +265,9 @@ int main(int argc, char** argv)
int64 t = getTickCount();
if( alg == STEREO_BM )
bm(img1, img2, disp);
else if( alg == STEREO_VAR )
else if( alg == STEREO_VAR ) {
var(img1, img2, disp);
}
else if( alg == STEREO_SGBM || alg == STEREO_HH )
sgbm(img1, img2, disp);
t = getTickCount() - t;