391 lines
10 KiB
C++
391 lines
10 KiB
C++
#include <iostream>
|
|
#include <string>
|
|
#include <sstream>
|
|
#include <iomanip>
|
|
#include <stdexcept>
|
|
#include "opencv2/ocl/ocl.hpp"
|
|
#include "opencv2/highgui/highgui.hpp"
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
using namespace ocl;
|
|
|
|
|
|
struct App
|
|
{
|
|
App(CommandLineParser& cmd);
|
|
void run();
|
|
void handleKey(char key);
|
|
void printParams() const;
|
|
|
|
void workBegin()
|
|
{
|
|
work_begin = getTickCount();
|
|
}
|
|
void workEnd()
|
|
{
|
|
int64 d = getTickCount() - work_begin;
|
|
double f = getTickFrequency();
|
|
work_fps = f / d;
|
|
}
|
|
string method_str() const
|
|
{
|
|
switch (method)
|
|
{
|
|
case BM:
|
|
return "BM";
|
|
case BP:
|
|
return "BP";
|
|
case CSBP:
|
|
return "CSBP";
|
|
}
|
|
return "";
|
|
}
|
|
string text() const
|
|
{
|
|
stringstream ss;
|
|
ss << "(" << method_str() << ") FPS: " << setiosflags(ios::left)
|
|
<< setprecision(4) << work_fps;
|
|
return ss.str();
|
|
}
|
|
private:
|
|
bool running, write_once;
|
|
|
|
Mat left_src, right_src;
|
|
Mat left, right;
|
|
oclMat d_left, d_right;
|
|
|
|
StereoBM_OCL bm;
|
|
StereoBeliefPropagation bp;
|
|
StereoConstantSpaceBP csbp;
|
|
|
|
int64 work_begin;
|
|
double work_fps;
|
|
|
|
string l_img, r_img;
|
|
string out_img;
|
|
enum {BM, BP, CSBP} method;
|
|
int ndisp; // Max disparity + 1
|
|
enum {GPU, CPU} type;
|
|
};
|
|
|
|
int main(int argc, char** argv)
|
|
{
|
|
const char* keys =
|
|
"{ h | help | false | print help message }"
|
|
"{ l | left | | specify left image }"
|
|
"{ r | right | | specify right image }"
|
|
"{ m | method | BM | specify match method(BM/BP/CSBP) }"
|
|
"{ n | ndisp | 64 | specify number of disparity levels }"
|
|
"{ s | cpu_ocl | false | use cpu or gpu as ocl device to process the image }"
|
|
"{ o | output | stereo_match_output.jpg | specify output path when input is images}";
|
|
CommandLineParser cmd(argc, argv, keys);
|
|
if (cmd.get<bool>("help"))
|
|
{
|
|
cout << "Avaible options:" << endl;
|
|
cmd.printParams();
|
|
return 0;
|
|
}
|
|
try
|
|
{
|
|
App app(cmd);
|
|
int flag = CVCL_DEVICE_TYPE_GPU;
|
|
if(cmd.get<bool>("s") == true)
|
|
flag = CVCL_DEVICE_TYPE_CPU;
|
|
|
|
vector<Info> info;
|
|
if(getDevice(info, flag) == 0)
|
|
{
|
|
throw runtime_error("Error: Did not find a valid OpenCL device!");
|
|
}
|
|
cout << "Device name:" << info[0].DeviceName[0] << endl;
|
|
|
|
app.run();
|
|
}
|
|
catch (const exception& e)
|
|
{
|
|
cout << "error: " << e.what() << endl;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
App::App(CommandLineParser& cmd)
|
|
: running(false),method(BM)
|
|
{
|
|
cout << "stereo_match_ocl sample\n";
|
|
cout << "\nControls:\n"
|
|
<< "\tesc - exit\n"
|
|
<< "\to - save output image once\n"
|
|
<< "\tp - print current parameters\n"
|
|
<< "\tg - convert source images into gray\n"
|
|
<< "\tm - change stereo match method\n"
|
|
<< "\ts - change Sobel prefiltering flag (for BM only)\n"
|
|
<< "\t1/q - increase/decrease maximum disparity\n"
|
|
<< "\t2/w - increase/decrease window size (for BM only)\n"
|
|
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
|
|
<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
|
|
l_img = cmd.get<string>("l");
|
|
r_img = cmd.get<string>("r");
|
|
string mstr = cmd.get<string>("m");
|
|
if(mstr == "BM") method = BM;
|
|
else if(mstr == "BP") method = BP;
|
|
else if(mstr == "CSBP") method = CSBP;
|
|
else cout << "unknown method!\n";
|
|
ndisp = cmd.get<int>("n");
|
|
out_img = cmd.get<string>("o");
|
|
write_once = false;
|
|
}
|
|
|
|
|
|
void App::run()
|
|
{
|
|
// Load images
|
|
left_src = imread(l_img);
|
|
right_src = imread(r_img);
|
|
if (left_src.empty()) throw runtime_error("can't open file \"" + l_img + "\"");
|
|
if (right_src.empty()) throw runtime_error("can't open file \"" + r_img + "\"");
|
|
|
|
cvtColor(left_src, left, CV_BGR2GRAY);
|
|
cvtColor(right_src, right, CV_BGR2GRAY);
|
|
|
|
d_left.upload(left);
|
|
d_right.upload(right);
|
|
|
|
imshow("left", left);
|
|
imshow("right", right);
|
|
|
|
// Set common parameters
|
|
bm.ndisp = ndisp;
|
|
bp.ndisp = ndisp;
|
|
csbp.ndisp = ndisp;
|
|
|
|
cout << endl;
|
|
printParams();
|
|
|
|
running = true;
|
|
while (running)
|
|
{
|
|
// Prepare disparity map of specified type
|
|
Mat disp;
|
|
oclMat d_disp;
|
|
workBegin();
|
|
switch (method)
|
|
{
|
|
case 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.upload(left);
|
|
d_right.upload(right);
|
|
imshow("left", left);
|
|
imshow("right", right);
|
|
}
|
|
bm(d_left, d_right, d_disp);
|
|
break;
|
|
case BP:
|
|
bp(d_left, d_right, d_disp);
|
|
break;
|
|
case CSBP:
|
|
csbp(d_left, d_right, d_disp);
|
|
break;
|
|
}
|
|
|
|
// Show results
|
|
d_disp.download(disp);
|
|
workEnd();
|
|
|
|
if (method != BM)
|
|
{
|
|
disp.convertTo(disp, 0);
|
|
}
|
|
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
|
|
imshow("disparity", disp);
|
|
if(write_once)
|
|
{
|
|
imwrite(out_img, disp);
|
|
write_once = false;
|
|
}
|
|
handleKey((char)waitKey(3));
|
|
}
|
|
}
|
|
|
|
|
|
void App::printParams() const
|
|
{
|
|
cout << "--- Parameters ---\n";
|
|
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
|
|
cout << "image_channels: " << left.channels() << endl;
|
|
cout << "method: " << method_str() << endl
|
|
<< "ndisp: " << ndisp << endl;
|
|
switch (method)
|
|
{
|
|
case BM:
|
|
cout << "win_size: " << bm.winSize << endl;
|
|
cout << "prefilter_sobel: " << bm.preset << endl;
|
|
break;
|
|
case BP:
|
|
cout << "iter_count: " << bp.iters << endl;
|
|
cout << "level_count: " << bp.levels << endl;
|
|
break;
|
|
case CSBP:
|
|
cout << "iter_count: " << csbp.iters << endl;
|
|
cout << "level_count: " << csbp.levels << endl;
|
|
break;
|
|
}
|
|
cout << endl;
|
|
}
|
|
|
|
|
|
void App::handleKey(char key)
|
|
{
|
|
switch (key)
|
|
{
|
|
case 27:
|
|
running = false;
|
|
break;
|
|
case 'p':
|
|
case 'P':
|
|
printParams();
|
|
break;
|
|
case 'g':
|
|
case 'G':
|
|
if (left.channels() == 1 && method != BM)
|
|
{
|
|
left = left_src;
|
|
right = right_src;
|
|
}
|
|
else
|
|
{
|
|
cvtColor(left_src, left, CV_BGR2GRAY);
|
|
cvtColor(right_src, right, CV_BGR2GRAY);
|
|
}
|
|
d_left.upload(left);
|
|
d_right.upload(right);
|
|
cout << "image_channels: " << left.channels() << endl;
|
|
imshow("left", left);
|
|
imshow("right", right);
|
|
break;
|
|
case 'm':
|
|
case 'M':
|
|
switch (method)
|
|
{
|
|
case BM:
|
|
method = BP;
|
|
break;
|
|
case BP:
|
|
method = CSBP;
|
|
break;
|
|
case CSBP:
|
|
method = BM;
|
|
break;
|
|
}
|
|
cout << "method: " << method_str() << endl;
|
|
break;
|
|
case 's':
|
|
case 'S':
|
|
if (method == BM)
|
|
{
|
|
switch (bm.preset)
|
|
{
|
|
case StereoBM_OCL::BASIC_PRESET:
|
|
bm.preset = StereoBM_OCL::PREFILTER_XSOBEL;
|
|
break;
|
|
case StereoBM_OCL::PREFILTER_XSOBEL:
|
|
bm.preset = StereoBM_OCL::BASIC_PRESET;
|
|
break;
|
|
}
|
|
cout << "prefilter_sobel: " << bm.preset << endl;
|
|
}
|
|
break;
|
|
case '1':
|
|
ndisp == 1 ? ndisp = 8 : ndisp += 8;
|
|
cout << "ndisp: " << ndisp << endl;
|
|
bm.ndisp = ndisp;
|
|
bp.ndisp = ndisp;
|
|
csbp.ndisp = ndisp;
|
|
break;
|
|
case 'q':
|
|
case 'Q':
|
|
ndisp = max(ndisp - 8, 1);
|
|
cout << "ndisp: " << ndisp << endl;
|
|
bm.ndisp = ndisp;
|
|
bp.ndisp = ndisp;
|
|
csbp.ndisp = ndisp;
|
|
break;
|
|
case '2':
|
|
if (method == BM)
|
|
{
|
|
bm.winSize = min(bm.winSize + 1, 51);
|
|
cout << "win_size: " << bm.winSize << endl;
|
|
}
|
|
break;
|
|
case 'w':
|
|
case 'W':
|
|
if (method == BM)
|
|
{
|
|
bm.winSize = max(bm.winSize - 1, 2);
|
|
cout << "win_size: " << bm.winSize << endl;
|
|
}
|
|
break;
|
|
case '3':
|
|
if (method == BP)
|
|
{
|
|
bp.iters += 1;
|
|
cout << "iter_count: " << bp.iters << endl;
|
|
}
|
|
else if (method == CSBP)
|
|
{
|
|
csbp.iters += 1;
|
|
cout << "iter_count: " << csbp.iters << endl;
|
|
}
|
|
break;
|
|
case 'e':
|
|
case 'E':
|
|
if (method == BP)
|
|
{
|
|
bp.iters = max(bp.iters - 1, 1);
|
|
cout << "iter_count: " << bp.iters << endl;
|
|
}
|
|
else if (method == CSBP)
|
|
{
|
|
csbp.iters = max(csbp.iters - 1, 1);
|
|
cout << "iter_count: " << csbp.iters << endl;
|
|
}
|
|
break;
|
|
case '4':
|
|
if (method == BP)
|
|
{
|
|
bp.levels += 1;
|
|
cout << "level_count: " << bp.levels << endl;
|
|
}
|
|
else if (method == CSBP)
|
|
{
|
|
csbp.levels += 1;
|
|
cout << "level_count: " << csbp.levels << endl;
|
|
}
|
|
break;
|
|
case 'r':
|
|
case 'R':
|
|
if (method == BP)
|
|
{
|
|
bp.levels = max(bp.levels - 1, 1);
|
|
cout << "level_count: " << bp.levels << endl;
|
|
}
|
|
else if (method == CSBP)
|
|
{
|
|
csbp.levels = max(csbp.levels - 1, 1);
|
|
cout << "level_count: " << csbp.levels << endl;
|
|
}
|
|
break;
|
|
case 'o':
|
|
case 'O':
|
|
write_once = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
|