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Color Value

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This commit is contained in:
Andrey Tkachenko 2014-06-16 14:50:31 +04:00
parent 695aff67a2
commit 35b9685eeb
5 changed files with 93 additions and 61 deletions
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154
src/Test.cpp
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@ -20,14 +20,27 @@ typedef struct {
} StereoData;
#define WINDOW_START 0
#define WINDOW_SIZE 150
#define MATCH_SIZE 2
#define WINDOW_SIZE 80
#define MATCH_SIZE_X 2
#define MATCH_SIZE_Y 2
#define ERROR_LEVEL 1
#define Y_CORRECTION 0
#define COLOR_SCALE 1
int getPixelValue(Mat* data, int x, int y)
int getPixelValue(Mat* data, int x, int y, int offset = -1)
{
if (y >= data->rows || y < 0 || x >= data->cols || x < 0) {
return 0;
}
uchar* pixel = data->ptr(y, x);
uchar value = 0.299 * pixel[0] + 0.587 * pixel[1] + 0.114 * pixel[2];
uchar value;
if (offset == -1 || offset > 2) {
value = 0.299 * pixel[0] + 0.587 * pixel[1] + 0.114 * pixel[2];
} else {
value = pixel[offset];
}
return value;
}
@ -59,17 +72,25 @@ void normalize(Mat* mat, int x_from, int x_to, int y)
int match(StereoData &params, int x, int y, int j) {
int error = 0;
for (int i = 0; i < MATCH_SIZE; i++) {
int Rvalue, Gvalue, Bvalue;
for (int i = 0; i < MATCH_SIZE_X; i++) {
if (x + j + i >= params.right->cols) {
return 999;
}
for (int g = 0; g < MATCH_SIZE; g++) {
for (int g = 0; g < MATCH_SIZE_Y; g++) {
if (y + g >= params.right->rows) {
return 999;
}
error += abs(getPixelValue(params.left, x + i, y + g) - getPixelValue(params.right, x + j + i, y + g));
Rvalue = abs(getPixelValue(params.left, x + i, y + g, 0) - getPixelValue(params.right, x + j + i, y + g, 0));
Gvalue = abs(getPixelValue(params.left, x + i, y + g, 1) - getPixelValue(params.right, x + j + i, y + g, 1));
Bvalue = abs(getPixelValue(params.left, x + i, y + g, 2) - getPixelValue(params.right, x + j + i, y + g, 2));
error += Rvalue * COLOR_SCALE;
error += Gvalue * COLOR_SCALE;
error += Bvalue * COLOR_SCALE;
}
}
@ -78,17 +99,20 @@ int match(StereoData &params, int x, int y, int j) {
int rmatch(StereoData &params, int x, int y, int j) {
int error = 0;
for (int i = 0; i < MATCH_SIZE; i++) {
for (int i = 0; i < MATCH_SIZE_X; i++) {
if (x - j - i < 0) {
return 999;
}
for (int g = 0; g < MATCH_SIZE; g++) {
for (int g = 0; g < MATCH_SIZE_Y; g++) {
if (y + g >= params.left->rows) {
return 999;
}
error += abs(getPixelValue(params.right, x - i, y + g) - getPixelValue(params.left, x - j - i, y + g));
error += abs(getPixelValue(params.right, x - i, y + g, 0) - getPixelValue(params.left, x - j - i, y + g, 0));
error += abs(getPixelValue(params.right, x - i, y + g, 1) - getPixelValue(params.left, x - j - i, y + g, 1));
error += abs(getPixelValue(params.right, x - i, y + g, 2) - getPixelValue(params.left, x - j - i, y + g, 2));
}
}
@ -105,26 +129,68 @@ void putPixel(Mat* mat, int x, int y, int cursor)
{
uchar* data;
data = mat->ptr(y, x);
data[0] = getPixelColor(cursor);
if (x >= 0 && x < mat->cols && y >= 0 && y < mat->rows) {
data = mat->ptr(y, x);
data[0] = getPixelColor(cursor);
}
}
void calcDepthMapMy2(StereoData &params) {
int x, y, cursor, closest, tmp;
int minErrorValue, tmpSmoothed, matched;
int precursor;
int precursor, preprecursor;
for (y = 0; y < params.stereo->rows; y++) {
cursor = 25;precursor=25;
cursor = WINDOW_SIZE/2;
precursor = WINDOW_SIZE/2;
preprecursor = WINDOW_SIZE/2;
for (x = 0; x < params.stereo->cols; x++) {
closest = 999; minErrorValue = 999;matched=0;
minErrorValue=999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = match(params, x, y, i);
tmpSmoothed = tmp + (0.2 * abs(cursor - i));
if (tmpSmoothed < minErrorValue) {
tmpSmoothed = tmp + (0 * abs(cursor - i));
if (tmpSmoothed < minErrorValue) {
minErrorValue = tmpSmoothed;
closest = i;
matched = 1;
} else if (tmpSmoothed == minErrorValue) {
if (abs(cursor - i) < abs(cursor - closest)) {
closest = i;
matched++;
}
}
}
if (matched) {
cursor = closest;
/*if (cursor-precursor > 0 && cursor-precursor < 10) {
for (int i = precursor; i < cursor; i++) {
putPixel(params.stereo, x + i, y, 0);
}
}*/
}
//if (cursor - precursor != 0) {
putPixel(params.stereo, x + cursor, y, cursor);
//}
preprecursor = precursor;
precursor = cursor;
}
/*cursor = 25;precursor=25;
for (x = params.stereo->cols; x >= 0; x--) {
closest = 999; minErrorValue = 999;matched=0;
minErrorValue=999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = rmatch(params, x, y, i);
tmpSmoothed = tmp + (0.0 * abs(cursor - i));
if (tmpSmoothed < minErrorValue) {
minErrorValue = tmpSmoothed;
closest = i;
matched = 1;
@ -140,58 +206,24 @@ void calcDepthMapMy2(StereoData &params) {
cursor = closest;
}
if (cursor - precursor > 0) {
for (int i = precursor; i < cursor; i++) {
putPixel(params.stereo, x + i, y, 0);
}
}
putPixel(params.stereo, x + cursor, y, cursor);
//if (abs(cursor - precursor)) {
//if (abs(getPixelColor(cursor) - getPixelValue(params.stereo, x, y)) < 50) {
putPixel(params.stereo, x, y, cursor);
//} else {
/// putPixel(params.stereo, x, y, 0);
//}
//}
precursor=cursor;
}
}*/
}
/*for (y = 0; y < params.stereo->rows; y++) {
cursor = 0;
for (x = 0; x < params.stereo->cols; x++) {
closest = 999;minErrorValue = 999;matched=0;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = rmatch(params, params.stereo->cols - x, y, i);
tmpSmoothed = tmp + (1 * abs(cursor - i));
if (tmpSmoothed < minErrorValue) {
minErrorValue = tmpSmoothed;
matched = 1;
closest = i ;
} else if (tmpSmoothed == minErrorValue) {
if (abs(cursor - i) < abs(cursor - closest)) {
closest = i;
matched++;
}
}
}
if (matched) {
cursor = closest;
if (minErrorValue < 50) {
putPixel(params.stereo, params.stereo->cols - x, y, 0);
}
}
}
}*/
}
int main(int argc, char** argv) {
StereoData params;
Mat left = imread("left4.png", 1);
Mat right = imread("right4.png", 1);
Mat left = imread("left8.png", 1);
Mat right = imread("right8.png", 1);
Mat stereo(Mat::zeros(left.rows, left.cols, CV_8U));