371 lines
9.7 KiB
C++
371 lines
9.7 KiB
C++
#include <iostream>
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#include <string>
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#include <sstream>
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#include <iomanip>
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#include <stdexcept>
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#include "opencv2/gpu/gpu.hpp"
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#include "opencv2/highgui/highgui.hpp"
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using namespace cv;
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using namespace std;
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struct Params
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{
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Params();
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static Params read(int argc, char** argv);
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string left;
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string right;
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string method_str() const
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{
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switch (method)
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{
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case BM: return "BM";
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case BP: return "BP";
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case CSBP: return "CSBP";
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}
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return "";
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}
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enum {BM, BP, CSBP} method;
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int ndisp; // Max disparity + 1
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};
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struct App
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{
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App(const Params& p);
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void run();
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void handleKey(char key);
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void printParams() const;
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void workBegin() { work_begin = getTickCount(); }
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void workEnd()
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{
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int64 d = getTickCount() - work_begin;
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double f = getTickFrequency();
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work_fps = f / d;
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}
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string text() const
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{
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stringstream ss;
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ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
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<< setprecision(4) << work_fps;
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return ss.str();
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}
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private:
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Params p;
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bool running;
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Mat left_src, right_src;
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Mat left, right;
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gpu::GpuMat d_left, d_right;
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gpu::StereoBM_GPU bm;
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gpu::StereoBeliefPropagation bp;
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gpu::StereoConstantSpaceBP csbp;
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int64 work_begin;
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double work_fps;
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};
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int main(int argc, char** argv)
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{
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try
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{
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if (argc < 2)
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{
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cout << "Usage: stereo_match_gpu\n"
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<< "\t-l <left_view> -r <right_view> # must be rectified\n"
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<< "\t-m <stereo_match_method> # BM | BP | CSBP\n";
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return 1;
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}
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App app(Params::read(argc, argv));
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app.run();
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}
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catch (const exception& e)
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{
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cout << "error: " << e.what() << endl;
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}
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return 0;
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}
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Params::Params()
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{
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method = BM;
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ndisp = 64;
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}
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Params Params::read(int argc, char** argv)
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{
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Params p;
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for (int i = 1; i < argc - 1; i += 2)
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{
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string key = argv[i];
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string val = argv[i + 1];
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if (key == "-l") p.left = val;
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else if (key == "-r") p.right = val;
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else if (key == "-m")
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{
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if (val == "BM") p.method = BM;
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else if (val == "BP") p.method = BP;
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else if (val == "CSBP") p.method = CSBP;
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else throw runtime_error("unknown stereo match method: " + val);
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}
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else if (key == "-ndisp") p.ndisp = atoi(val.c_str());
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else throw runtime_error("unknown key: " + key);
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}
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return p;
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}
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App::App(const Params& p)
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: p(p), running(false)
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{
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cout << "stereo_match_gpu sample\n";
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cout << "\nControls:\n"
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<< "\tesc - exit\n"
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<< "\tp - print current parameters\n"
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<< "\tg - convert source images into gray\n"
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<< "\tm - change stereo match method\n"
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<< "\ts - change Sobel prefiltering flag (for BM only)\n"
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<< "\t1/q - increase/decrease maximum disparity\n"
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<< "\t2/w - increase/decrease window size (for BM only)\n"
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<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
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<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
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}
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void App::run()
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{
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// Load images
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left_src = imread(p.left);
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right_src = imread(p.right);
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if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
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if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
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cvtColor(left_src, left, CV_BGR2GRAY);
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cvtColor(right_src, right, CV_BGR2GRAY);
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d_left = left;
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d_right = right;
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imshow("left", left);
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imshow("right", right);
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// Set common parameters
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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// Prepare disparity map of specified type
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Mat disp(left.size(), CV_8U);
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gpu::GpuMat d_disp(left.size(), CV_8U);
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cout << endl;
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printParams();
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running = true;
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while (running)
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{
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workBegin();
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switch (p.method)
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{
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case Params::BM:
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if (d_left.channels() > 1 || d_right.channels() > 1)
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{
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cout << "BM doesn't support color images\n";
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cvtColor(left_src, left, CV_BGR2GRAY);
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cvtColor(right_src, right, CV_BGR2GRAY);
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cout << "image_channels: " << left.channels() << endl;
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d_left = left;
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d_right = right;
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imshow("left", left);
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imshow("right", right);
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}
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bm(d_left, d_right, d_disp);
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break;
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case Params::BP: bp(d_left, d_right, d_disp); break;
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case Params::CSBP: csbp(d_left, d_right, d_disp); break;
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}
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workEnd();
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// Show results
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disp = d_disp;
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putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
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imshow("disparity", disp);
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handleKey((char)waitKey(3));
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}
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}
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void App::printParams() const
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{
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cout << "--- Parameters ---\n";
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cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
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cout << "image_channels: " << left.channels() << endl;
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cout << "method: " << p.method_str() << endl
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<< "ndisp: " << p.ndisp << endl;
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switch (p.method)
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{
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case Params::BM:
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cout << "win_size: " << bm.winSize << endl;
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cout << "prefilter_sobel: " << bm.preset << endl;
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break;
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case Params::BP:
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cout << "iter_count: " << bp.iters << endl;
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cout << "level_count: " << bp.levels << endl;
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break;
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case Params::CSBP:
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cout << "iter_count: " << csbp.iters << endl;
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cout << "level_count: " << csbp.levels << endl;
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break;
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}
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cout << endl;
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}
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void App::handleKey(char key)
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{
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switch (key)
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{
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case 27:
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running = false;
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break;
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case 'p': case 'P':
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printParams();
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break;
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case 'g': case 'G':
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if (left.channels() == 1 && p.method != Params::BM)
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{
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left = left_src;
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right = right_src;
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}
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else
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{
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cvtColor(left_src, left, CV_BGR2GRAY);
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cvtColor(right_src, right, CV_BGR2GRAY);
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}
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d_left = left;
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d_right = right;
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cout << "image_channels: " << left.channels() << endl;
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imshow("left", left);
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imshow("right", right);
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break;
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case 'm': case 'M':
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switch (p.method)
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{
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case Params::BM:
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p.method = Params::BP;
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break;
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case Params::BP:
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p.method = Params::CSBP;
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break;
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case Params::CSBP:
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p.method = Params::BM;
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break;
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}
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cout << "method: " << p.method_str() << endl;
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break;
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case 's': case 'S':
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if (p.method == Params::BM)
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{
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switch (bm.preset)
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{
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case gpu::StereoBM_GPU::BASIC_PRESET:
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bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
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break;
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case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
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bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
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break;
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}
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cout << "prefilter_sobel: " << bm.preset << endl;
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}
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break;
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case '1':
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p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
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cout << "ndisp: " << p.ndisp << endl;
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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break;
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case 'q': case 'Q':
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p.ndisp = max(p.ndisp - 8, 1);
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cout << "ndisp: " << p.ndisp << endl;
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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break;
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case '2':
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if (p.method == Params::BM)
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{
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bm.winSize = min(bm.winSize + 1, 51);
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cout << "win_size: " << bm.winSize << endl;
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}
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break;
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case 'w': case 'W':
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if (p.method == Params::BM)
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{
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bm.winSize = max(bm.winSize - 1, 2);
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cout << "win_size: " << bm.winSize << endl;
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}
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break;
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case '3':
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if (p.method == Params::BP)
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{
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bp.iters += 1;
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cout << "iter_count: " << bp.iters << endl;
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}
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else if (p.method == Params::CSBP)
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{
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csbp.iters += 1;
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cout << "iter_count: " << csbp.iters << endl;
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}
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break;
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case 'e': case 'E':
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if (p.method == Params::BP)
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{
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bp.iters = max(bp.iters - 1, 1);
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cout << "iter_count: " << bp.iters << endl;
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}
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else if (p.method == Params::CSBP)
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{
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csbp.iters = max(csbp.iters - 1, 1);
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cout << "iter_count: " << csbp.iters << endl;
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}
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break;
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case '4':
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if (p.method == Params::BP)
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{
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bp.levels += 1;
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cout << "level_count: " << bp.levels << endl;
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}
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else if (p.method == Params::CSBP)
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{
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csbp.levels += 1;
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cout << "level_count: " << csbp.levels << endl;
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}
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break;
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case 'r': case 'R':
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if (p.method == Params::BP)
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{
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bp.levels = max(bp.levels - 1, 1);
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cout << "level_count: " << bp.levels << endl;
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}
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else if (p.method == Params::CSBP)
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{
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csbp.levels = max(csbp.levels - 1, 1);
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cout << "level_count: " << csbp.levels << endl;
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}
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break;
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}
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}
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