added improved version of the variational stereo correspondence algorithm by Sergey Kosov
This commit is contained in:
Vadim Pisarevsky
parent
5f0c312087
commit
7702fa4d61
@ -568,7 +568,7 @@ namespace cv
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{
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public:
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// Flags
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enum {USE_INITIAL_DISPARITY = 1, USE_EQUALIZE_HIST = 2, USE_SMART_ID = 4, USE_MEDIAN_FILTERING = 8};
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enum {USE_INITIAL_DISPARITY = 1, USE_EQUALIZE_HIST = 2, USE_SMART_ID = 4, USE_AUTO_PARAMS = 8, USE_MEDIAN_FILTERING = 16};
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enum {CYCLE_O, CYCLE_V};
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enum {PENALIZATION_TICHONOV, PENALIZATION_CHARBONNIER, PENALIZATION_PERONA_MALIK};
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@ -598,7 +598,8 @@ namespace cv
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CV_PROP_RW int flags;
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private:
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void FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level);
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void autoParams();
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void FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level);
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void VCycle_MyFAS(Mat &I1_h, Mat &I2_h, Mat &I2x_h, Mat &u_h, int level);
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void VariationalSolver(Mat &I1_h, Mat &I2_h, Mat &I2x_h, Mat &u_h, int level);
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};
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@ -53,7 +53,7 @@
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namespace cv
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{
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StereoVar::StereoVar() : levels(3), pyrScale(0.5), nIt(3), minDisp(0), maxDisp(16), poly_n(5), poly_sigma(1.2), fi(1000.0f), lambda(0.0f), penalization(PENALIZATION_TICHONOV), cycle(CYCLE_V), flags(USE_SMART_ID)
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StereoVar::StereoVar() : levels(3), pyrScale(0.5), nIt(5), minDisp(0), maxDisp(16), poly_n(3), poly_sigma(0), fi(25.0f), lambda(0.03f), penalization(PENALIZATION_TICHONOV), cycle(CYCLE_V), flags(USE_SMART_ID | USE_AUTO_PARAMS)
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{
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}
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@ -65,111 +65,172 @@ StereoVar::~StereoVar()
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{
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}
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static Mat diffX(Mat &img)
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static Mat diffX(Mat &src)
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{
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register int x, y, cols = src.cols - 1;
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Mat dst(src.size(), src.type());
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for(y = 0; y < src.rows; y++){
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const float* pSrc = src.ptr<float>(y);
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float* pDst = dst.ptr<float>(y);
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for (x = 0; x <= cols - 8; x += 8) {
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__m128 a0 = _mm_loadu_ps(pSrc + x);
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__m128 b0 = _mm_loadu_ps(pSrc + x + 1);
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__m128 a1 = _mm_loadu_ps(pSrc + x + 4);
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__m128 b1 = _mm_loadu_ps(pSrc + x + 5);
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b0 = _mm_sub_ps(b0, a0);
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b1 = _mm_sub_ps(b1, a1);
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_mm_storeu_ps(pDst + x, b0);
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_mm_storeu_ps(pDst + x + 4, b1);
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}
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for( ; x < cols; x++) pDst[x] = pSrc[x+1] - pSrc[x];
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pDst[cols] = 0.f;
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}
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return dst;
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}
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static Mat getGradient(Mat &src)
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{
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// TODO try pointers or assm
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register int x, y;
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Mat dst(img.size(), img.type());
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Mat dst(src.size(), src.type());
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dst.setTo(0);
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for (x = 0; x < img.cols - 1; x++)
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for (y = 0; y < img.rows; y++)
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dst.at<float>(y, x) = img.at<float>(y, x + 1) - img.at<float>(y ,x);
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for (y = 0; y < src.rows - 1; y++) {
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float *pSrc = src.ptr<float>(y);
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float *pSrcF = src.ptr<float>(y + 1);
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float *pDst = dst.ptr<float>(y);
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for (x = 0; x < src.cols - 1; x++)
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pDst[x] = fabs(pSrc[x + 1] - pSrc[x]) + fabs(pSrcF[x] - pSrc[x]);
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}
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return dst;
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}
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static Mat Gradient(Mat &img)
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static Mat getG_c(Mat &src, float l)
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{
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Mat sobel, sobelX, sobelY;
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img.copyTo(sobelX);
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img.copyTo(sobelY);
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Sobel(img, sobelX, sobelX.type(), 1, 0, 1);
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Sobel(img, sobelY, sobelY.type(), 0, 1, 1);
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sobelX = abs(sobelX);
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sobelY = abs(sobelY);
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add(sobelX, sobelY, sobel);
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sobelX.release();
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sobelY.release();
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return sobel;
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Mat dst(src.size(), src.type());
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for (register int y = 0; y < src.rows; y++) {
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float *pSrc = src.ptr<float>(y);
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float *pDst = dst.ptr<float>(y);
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for (register int x = 0; x < src.cols; x++)
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pDst[x] = 0.5f*l / sqrtf(l*l + pSrc[x]*pSrc[x]);
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}
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return dst;
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}
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static float g_c(Mat z, int x, int y, float l)
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static Mat getG_p(Mat &src, float l)
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{
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return 0.5f*l / sqrtf(l*l + z.at<float>(y,x)*z.at<float>(y,x));
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}
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static float g_p(Mat z, int x, int y, float l)
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{
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return 0.5f*l*l / (l*l + z.at<float>(y,x)*z.at<float>(y,x)) ;
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Mat dst(src.size(), src.type());
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for (register int y = 0; y < src.rows; y++) {
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float *pSrc = src.ptr<float>(y);
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float *pDst = dst.ptr<float>(y);
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for (register int x = 0; x < src.cols; x++)
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pDst[x] = 0.5f*l*l / (l*l + pSrc[x]*pSrc[x]);
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}
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return dst;
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}
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void StereoVar::VariationalSolver(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level)
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{
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register int n, x, y;
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float gl = 1, gr = 1, gu = 1, gd = 1, gc = 4;
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Mat g_c, g_p;
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Mat U;
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Mat Sobel;
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u.copyTo(U);
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int N = nIt;
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float l = lambda;
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float Fi = fi;
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double scale = pow(pyrScale, (double) level);
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if (flags & USE_SMART_ID) {
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double scale = pow(pyrScale, (double) level) * (1 + pyrScale);
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N = (int) (N / scale);
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Fi /= (float) scale;
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l *= (float) scale;
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}
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double scale = pow(pyrScale, (double) level);
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Fi /= (float) scale;
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l *= (float) scale;
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int width = u.cols - 1;
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int height = u.rows - 1;
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for (n = 0; n < N; n++) {
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if (penalization != PENALIZATION_TICHONOV) {if(!Sobel.empty()) Sobel.release(); Sobel = Gradient(U);}
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for (x = 1; x < u.cols - 1; x++) {
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for (y = 1 ; y < u.rows - 1; y++) {
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if (penalization != PENALIZATION_TICHONOV) {
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Mat gradient = getGradient(U);
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switch (penalization) {
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case PENALIZATION_CHARBONNIER: g_c = getG_c(gradient, l); break;
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case PENALIZATION_PERONA_MALIK: g_p = getG_p(gradient, l); break;
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}
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gradient.release();
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}
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for (y = 1 ; y < height; y++) {
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float *pU = U.ptr<float>(y);
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float *pUu = U.ptr<float>(y + 1);
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float *pUd = U.ptr<float>(y - 1);
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float *pu = u.ptr<float>(y);
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float *pI1 = I1.ptr<float>(y);
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float *pI2 = I2.ptr<float>(y);
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float *pI2x = I2x.ptr<float>(y);
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float *pG_c = NULL, *pG_cu = NULL, *pG_cd = NULL;
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float *pG_p = NULL, *pG_pu = NULL, *pG_pd = NULL;
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switch (penalization) {
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case PENALIZATION_CHARBONNIER:
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pG_c = g_c.ptr<float>(y);
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pG_cu = g_c.ptr<float>(y + 1);
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pG_cd = g_c.ptr<float>(y - 1);
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break;
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case PENALIZATION_PERONA_MALIK:
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pG_p = g_p.ptr<float>(y);
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pG_pu = g_p.ptr<float>(y + 1);
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pG_pd = g_p.ptr<float>(y - 1);
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break;
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}
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for (x = 1; x < width; x++) {
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switch (penalization) {
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case PENALIZATION_CHARBONNIER:
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gc = g_c(Sobel, x, y, l);
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gl = gc + g_c(Sobel, x - 1, y, l);
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gr = gc + g_c(Sobel, x + 1, y, l);
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gu = gc + g_c(Sobel, x, y + 1, l);
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gd = gc + g_c(Sobel, x, y - 1, l);
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gc = pG_c[x];
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gl = gc + pG_c[x - 1];
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gr = gc + pG_c[x + 1];
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gu = gc + pG_cu[x];
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gd = gc + pG_cd[x];
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gc = gl + gr + gu + gd;
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break;
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case PENALIZATION_PERONA_MALIK:
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gc = g_p(Sobel, x, y, l);
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gl = gc + g_p(Sobel, x - 1, y, l);
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gr = gc + g_p(Sobel, x + 1, y, l);
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gu = gc + g_p(Sobel, x, y + 1, l);
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gd = gc + g_p(Sobel, x, y - 1, l);
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gc = pG_p[x];
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gl = gc + pG_p[x - 1];
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gr = gc + pG_p[x + 1];
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gu = gc + pG_pu[x];
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gd = gc + pG_pd[x];
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gc = gl + gr + gu + gd;
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break;
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}
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float fi = Fi;
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if (maxDisp > minDisp) {
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if (U.at<float>(y,x) > maxDisp * scale) {fi*=1000; U.at<float>(y,x) = static_cast<float>(maxDisp * scale);}
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if (U.at<float>(y,x) < minDisp * scale) {fi*=1000; U.at<float>(y,x) = static_cast<float>(minDisp * scale);}
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if (pU[x] > maxDisp * scale) {fi *= 1000; pU[x] = static_cast<float>(maxDisp * scale);}
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if (pU[x] < minDisp * scale) {fi *= 1000; pU[x] = static_cast<float>(minDisp * scale);}
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}
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int A = (int) (U.at<float>(y,x));
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int neg = 0; if (U.at<float>(y,x) <= 0) neg = -1;
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int A = static_cast<int>(pU[x]);
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int neg = 0; if (pU[x] <= 0) neg = -1;
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if (x + A >= u.cols)
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u.at<float>(y, x) = U.at<float>(y, u.cols - A - 1);
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if (x + A > width)
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pu[x] = pU[width - A];
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else if (x + A + neg < 0)
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u.at<float>(y, x) = U.at<float>(y, - A + 2);
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pu[x] = pU[- A + 2];
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else {
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u.at<float>(y, x) = A + (I2x.at<float>(y, x + A + neg) * (I1.at<float>(y, x) - I2.at<float>(y, x + A))
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+ fi * (gr * U.at<float>(y, x + 1) + gl * U.at<float>(y, x - 1) + gu * U.at<float>(y + 1, x) + gd * U.at<float>(y - 1, x) - gc * A))
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/ (I2x.at<float>(y, x + A + neg) * I2x.at<float>(y, x + A + neg) + gc * fi) ;
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pu[x] = A + (pI2x[x + A + neg] * (pI1[x] - pI2[x + A])
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+ fi * (gr * pU[x + 1] + gl * pU[x - 1] + gu * pUu[x] + gd * pUd[x] - gc * A))
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/ (pI2x[x + A + neg] * pI2x[x + A + neg] + gc * fi) ;
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}
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}//y
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}// x
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pu[0] = pu[1];
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pu[width] = pu[width - 1];
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}// y
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for (x = 0; x <= width; x++) {
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u.at<float>(0, x) = u.at<float>(1, x);
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u.at<float>(u.rows - 1, x) = u.at<float>(u.rows - 2, x);
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}//x
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for (y = 0; y < u.rows; y++) {
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u.at<float>(y, 0) = u.at<float>(y, 1);
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u.at<float>(y, u.cols - 1) = u.at<float>(y, u.cols - 2);
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u.at<float>(height, x) = u.at<float>(height - 1, x);
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}
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u.copyTo(U);
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if (!g_c.empty()) g_c.release();
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if (!g_p.empty()) g_p.release();
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}//n
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}
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@ -251,15 +312,43 @@ void StereoVar::FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level)
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u_h.release();
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level--;
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if ((flags & USE_AUTO_PARAMS) && (level < levels / 3)) {
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penalization = PENALIZATION_PERONA_MALIK;
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fi *= 100;
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flags -= USE_AUTO_PARAMS;
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autoParams();
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}
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if (flags & USE_MEDIAN_FILTERING) medianBlur(u, u, 3);
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if (level >= 0) FMG(I1, I2, I2x, u, level);
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}
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void StereoVar::autoParams()
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{
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int maxD = MAX(labs(maxDisp), labs(minDisp));
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if (!maxD) pyrScale = 0.85;
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else if (maxD < 8) pyrScale = 0.5;
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else if (maxD < 64) pyrScale = 0.5 + static_cast<double>(maxD - 8) * 0.00625;
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else pyrScale = 0.85;
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if (maxD) {
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levels = 0;
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while ( pow(pyrScale, levels) * maxD > 1.5) levels ++;
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levels++;
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}
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switch(penalization) {
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case PENALIZATION_TICHONOV: cycle = CYCLE_V; break;
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case PENALIZATION_CHARBONNIER: cycle = CYCLE_O; break;
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case PENALIZATION_PERONA_MALIK: cycle = CYCLE_O; break;
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}
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}
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void StereoVar::operator ()( const Mat& left, const Mat& right, Mat& disp )
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{
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CV_Assert(left.size() == right.size() && left.type() == right.type());
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CvSize imgSize = left.size();
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int MaxD = MAX(std::abs(minDisp), std::abs(maxDisp));
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int MaxD = MAX(labs(minDisp), labs(maxDisp));
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int SignD = 1; if (MIN(minDisp, maxDisp) < 0) SignD = -1;
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if (minDisp >= maxDisp) {MaxD = 256; SignD = 1;}
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@ -290,6 +379,11 @@ void StereoVar::operator ()( const Mat& left, const Mat& right, Mat& disp )
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GaussianBlur(rightgray, rightgray, cvSize(poly_n, poly_n), poly_sigma);
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}
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if (flags & USE_AUTO_PARAMS) {
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penalization = PENALIZATION_TICHONOV;
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autoParams();
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}
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Mat I1, I2;
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leftgray.convertTo(I1, CV_32FC1);
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rightgray.convertTo(I2, CV_32FC1);
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@ -20,7 +20,7 @@ void print_help()
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{
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printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
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printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|var] [--blocksize=<block_size>]\n"
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"[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
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"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
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"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
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}
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@ -40,18 +40,18 @@ void saveXYZ(const char* filename, const Mat& mat)
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fclose(fp);
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}
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int main(int argc, char** argv)
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{
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const char* algorithm_opt = "--algorithm=";
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const char* maxdisp_opt = "--max-disparity=";
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const char* blocksize_opt = "--blocksize=";
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const char* nodisplay_opt = "--no-display=";
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const char* scale_opt = "--scale=";
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if(argc < 3)
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{
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print_help();
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return 0;
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return 0;
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}
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const char* img1_filename = 0;
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const char* img2_filename = 0;
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@ -64,6 +64,7 @@ int main(int argc, char** argv)
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int alg = STEREO_SGBM;
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int SADWindowSize = 0, numberOfDisparities = 0;
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bool no_display = false;
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float scale = 1.f;
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StereoBM bm;
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StereoSGBM sgbm;
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@ -111,6 +112,14 @@ int main(int argc, char** argv)
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return -1;
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}
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}
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else if( strncmp(argv[i], scale_opt, strlen(scale_opt)) == 0 )
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{
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if( sscanf( argv[i] + strlen(scale_opt), "%f", &scale ) != 1 || scale < 0 )
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{
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printf("Command-line parameter error: The scale factor (--scale=<...>) must be a positive floating-point number\n");
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return -1;
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}
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}
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else if( strcmp(argv[i], nodisplay_opt) == 0 )
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no_display = true;
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else if( strcmp(argv[i], "-i" ) == 0 )
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@ -149,6 +158,17 @@ int main(int argc, char** argv)
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int color_mode = alg == STEREO_BM ? 0 : -1;
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Mat img1 = imread(img1_filename, color_mode);
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Mat img2 = imread(img2_filename, color_mode);
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||||
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.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;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user