V2 begin

CSV.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.0.1, 2014-07-12T22:47:40. -->
+<!-- Written by QtCreator 3.0.1, 2014-07-18T12:19:19. -->
 <qtcreator>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -53,7 +53,7 @@
   <valuemap type="QVariantMap">
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{463a2572-9a8f-4eb1-bda2-3a5ffe83025f}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{7246c6ab-7a87-4118-a487-ab344a31d36b}</value>
    <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -229,7 +229,7 @@
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CSV</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/andrey/workspace/ComputerVision/CSV.pro</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/andrey/workspace/CSV/CSV.pro</value>
     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">CSV.pro</value>
     <value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
@@ -251,7 +251,7 @@
  </data>
  <data>
   <variable>ProjectExplorer.Project.Updater.EnvironmentId</variable>
-  <value type="QByteArray">{dedf9f3d-a494-4afd-b37a-86d04bd971d6}</value>
+  <value type="QByteArray">{35059b80-6449-4cca-8333-a4525005f807}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>

Main.qml

@@ -174,11 +174,49 @@ ApplicationWindow {
                     }
                 }
                 Tab {
-                    id: pclView
+                    id: leftImageView
-                    title: "PCL View"
+                    title: "Left Image"
 
                     Item {
-                        anchors.fill: parent
+                        Flickable {
+                            anchors.fill: parent
+                            contentWidth: image.width
+                            contentHeight: image.height
+                            interactive: true
+                            anchors.margins: 2
+                            clip: true
+
+                            Item {
+                                Image {
+                                    id: leftImage
+                                    source: "image://images/left"
+                                    smooth: false
+                                }
+                            }
+                        }
+                    }
+                }
+                Tab {
+                    id: rightImageView
+                    title: "Right Image"
+
+                    Item {
+                        Flickable {
+                            anchors.fill: parent
+                            contentWidth: image.width
+                            contentHeight: image.height
+                            interactive: true
+                            anchors.margins: 2
+                            clip: true
+
+                            Item {
+                                Image {
+                                    id: rightImage
+                                    source: "image://images/right"
+                                    smooth: false
+                                }
+                            }
+                        }
                     }
                 }
             }

main.cpp

@@ -15,14 +15,15 @@ int main(int argc, char *argv[])
     QQmlApplicationEngine engine;
     SvImageProvider imageProvider;
 
-    QImage imgLeft("../ComputerVision/img/left4_.png");
+    QImage imgLeft("../CSV/img/left9.png");
-    QImage imgRight("../ComputerVision/img/right4_.png");
+    QImage imgRight("../CSV/img/right.png");
-    QImage imgStereo(imgLeft.width(), imgRight.height(), QImage::Format_RGB32);
+    QImage imgStereo(imgLeft.width(), imgLeft.height(), QImage::Format_RGB32);
 
     SvImage left(imgLeft);
     SvImage right(imgRight);
     SvImage stereo(imgStereo);
-    SvProcessor proc(&left, &right, &stereo, 4);
+
+    SvProcessor proc(&left, &right, &stereo, 4, 2);
 
     imageProvider.addImage("left", &left);
     imageProvider.addImage("right", &right);

svimage.cpp

@@ -53,7 +53,23 @@ int SvImage::getPixelValue(int x, int y) {
     return color.value();
 }
 
-void SvImage::putPixel(int x, int y, int value)
+int SvImage::getPixelSaturation(int x, int y)
+{
+    if (y >= m_image->height() ||
+        y < 0 ||
+        x >= m_image->width()
+        || x < 0) {
+
+        return 0;
+    }
+
+    QRgb rgb = m_image->pixel(x, y);
+    QColor color(rgb);
+
+    return color.saturation();
+}
+
+void SvImage::putGrayPixel(int x, int y, int value)
 {
     if (y >= m_image->height() ||
         y < 0 ||
@@ -66,6 +82,19 @@ void SvImage::putPixel(int x, int y, int value)
     m_image->setPixel(x, y, qRgb(value, value, value));
 }
 
+void SvImage::putPixel(int x, int y, int red, int green, int blue)
+{
+    if (y >= m_image->height() ||
+        y < 0 ||
+        x >= m_image->width()
+        || x < 0) {
+
+        return;
+    }
+
+    m_image->setPixel(x, y, qRgb(red, green, blue));
+}
+
 unsigned int SvImage::getHeight() {
     return m_image->height();
 }

svimage.h

@@ -14,7 +14,9 @@ public:
     int  getPixel(int x, int y, int channel);
     int  getPixelHue(int x, int y);
     int  getPixelValue(int x, int y);
-    void putPixel(int x, int y, int val);
+    int  getPixelSaturation(int x, int y);
+    void putGrayPixel(int x, int y, int val);
+    void putPixel(int x, int y, int red, int green, int blue);
 
     unsigned int getHeight();
     unsigned int getWidth();

svkernelv1.cpp

@@ -22,21 +22,30 @@ int SvKernelV1::getPixelColor(int cursor)
 
 int SvKernelV1::diff(int lx, int ly, int rx, int ry)
 {
-    int Rvalue, Gvalue, Bvalue, color;
+    int Red, Green, Blue, color;
 
-    Rvalue = abs(m_left->getPixel(lx, ly, 0) - m_right->getPixel(rx, ry, 0));
+    int Lvalue = m_left->getPixelValue(lx, ly);
-    Gvalue = abs(m_left->getPixel(lx, ly, 1) - m_right->getPixel(rx, ry, 1));
+    int Rvalue = m_right->getPixelValue(rx, ry);
-    Bvalue = abs(m_left->getPixel(lx, ly, 2) - m_right->getPixel(rx, ry, 2));
-    color  = abs(Gvalue - Rvalue) + abs(Bvalue - Gvalue);
 
-    return (Gvalue + Rvalue + Bvalue) +
+    int dLvalue = m_left->getPixelValue(rx - 1, ry) - Lvalue;
-            color << 2;
+    int dRvalue = m_right->getPixelValue(rx - 1, ry) - Rvalue;
+
+    int dLsign = dLvalue >= 0 ? 1 : -1;
+    int dRsign = dRvalue >= 0 ? 1 : -1;
+
+    Red = abs(m_left->getPixel(lx, ly, 0) - m_right->getPixel(rx, ry, 0));
+    Green = abs(m_left->getPixel(lx, ly, 1) - m_right->getPixel(rx, ry, 1));
+    Blue = abs(m_left->getPixel(lx, ly, 2) - m_right->getPixel(rx, ry, 2));
+    color  = abs(Green - Red) + abs(Blue - Green);
+
+    return ((Green + Red + Blue) +
+            color << 2) + (dLsign == dRsign ? 0 : 100);
 }
 
 int SvKernelV1::match(int x, int y, int j)
 {
     int error = 0;
-    int ms = 4;
+    int ms = 5;
     int c = diff(x, y, x + j, y),
         l = 0, r = 0, t = 0, b = 0;
 
@@ -73,7 +82,7 @@ void SvKernelV1::exec(int line)
             dist = (abs(cursor - i));
 
             tmp = match(x, line, i);
-            tmpSmoothed  = tmp + dist;
+            tmpSmoothed  = tmp;
 
             if (tmpSmoothed < minErrorValue || minErrorValue == -1) {
                 minErrorValue = tmpSmoothed;
@@ -91,6 +100,6 @@ void SvKernelV1::exec(int line)
             cursor = closest;
         }
 
-        m_result->putPixel(x/* + cursor*/, line, getPixelColor(cursor));
+        m_result->putGrayPixel(x/* + cursor*/, line, getPixelColor(cursor));
     }
 }

svkernelv1.h

@@ -7,7 +7,7 @@ class SvKernelV1: public SvAbstractKernel
 {
 
 protected:
-    int m_windowSize = 80;
+    int m_windowSize = 150;
 
 public:
     void exec(int line) override;

svkernelv2.cpp

@@ -11,6 +11,94 @@ SvKernelV2::~SvKernelV2()
 }
 
 void SvKernelV2::exec(int line)
+{
+    int hue, value, saturation;
+    int _hue, _value, _saturation;
+    int __hue, __value, __saturation;
+    int dValue, dHue, dSaturation;
+    int tValue, tHue, tSaturation;
+    int _dValue, __dValue;
+    int _dSaturation, __dSaturation;
+    int _dHue, __dHue;
+
+    for (int x = 0; x < m_result->getWidth(); x++) {
+        hue = m_left->getPixelHue(x, line);
+        value = m_left->getPixelValue(x, line);
+        saturation = m_left->getPixelSaturation(x, line);
+
+        dHue = _hue - hue;
+        dSaturation = _saturation - saturation;
+        dValue = _value - value;
+
+        int m1 = m_left->getPixelValue(x, line - 1);
+        int m2 = m_left->getPixelValue(x, line - 2);
+        int m3 = m_left->getPixelValue(x, line - 3);
+
+        int dY = m1-value;
+        int _dY = m2-m1;
+        int __dY = m3-m2;
+
+        int hV = 0;
+
+        if (((_dValue > dValue && _dValue > __dValue) ||
+             (_dValue < dValue && _dValue < __dValue))) {
+
+            hV = abs(_dValue);
+            m_result->putGrayPixel(x, line, abs(_dValue));
+        }
+
+        if (((_dY > dY && _dY > __dY) ||
+             (_dY < dY && _dY < __dY))) {
+            if (abs(_dY) > hV) {
+                m_result->putGrayPixel(x, line - 2, abs(_dY));
+            }
+        }
+
+        __hue = _hue;
+        __value = _value;
+        __saturation = _saturation;
+
+        _hue = hue;
+        _value = value;
+        _saturation = saturation;
+
+        __dValue = _dValue;
+        _dValue = dValue;
+
+        __dSaturation = _dSaturation;
+        _dSaturation = dSaturation;
+
+        __dHue = _dHue;
+        _dHue = dHue;
+    }
+}
+
+int SvKernelV2::getPixelValueByBit(int bit)
 {
 
 }
+
+unsigned int SvKernelV2::figureType(int x, int y, int level)
+{
+    unsigned char typeCode, resultType;
+    int result, error = -1;
+    for (int type = 1; type < 20; type++) {
+        typeCode = m_figures[type - 1];
+        result = 0;
+        for (int bit = 0; bit < 9; bit++) {
+            value = getPixelValueByBit(bit);
+            if (typeCode & (1 << bit)) {
+                result += abs(level - value);
+            } else {
+                result += value;
+            }
+        }
+
+        if (error > result || error == -1) {
+            resultType = type;
+            error = result;
+        }
+    }
+
+    return (error << 5) | resultType;
+}

svkernelv2.h

@@ -3,12 +3,91 @@
 
 #include "svabstractkernel.h"
 
+#define sign(a) (a == 0 ? 0 : (a > 0 ? 1 : -1))
+
 class SvKernelV2: public SvAbstractKernel
 {
+
+private:
+    unsigned short* m_figures = {
+        0b000111000, // TYPE_0
+
+        0b100011000, // TYPE_11_1
+        0b110011000, // TYPE_22_2_1
+        0b000110011, // TYPE_22_2_2
+        0b000110001, // TYPE_33_3
+        0b100010001, // TYPE_45
+
+        0b010010001, // TYPE_56_1
+        0b100110010, // TYPE_67_2_1
+        0b010011001, // TYPE_67_2_2
+        0b100010010, // TYPE_78_3
+        0b010010010, // TYPE_90
+
+        0b001010010, // TYPE_101_1
+        0b001011010, // TYPE_112_2_1
+        0b010110100, // TYPE_112_2_2
+        0b010010100, // TYPE_123_3
+        0b001010100, // TYPE_135
+
+        0b000011100, // TYPE_146_1
+        0b000011110, // TYPE_157_2_1
+        0b011110000, // TYPE_157_2_2
+        0b001110000, // TYPE_168_3
+    };
+
 public:
+    enum FigureType {
+        TYPE_NONE = 0,
+
+        TYPE_0,     // 000
+                    // 111
+                    // 000
+
+        TYPE_11_1,  // 100
+                    // 011
+                    // 000
+
+        TYPE_22_2_1,// 110
+                    // 011
+                    // 000
+
+        TYPE_22_2_2,// 000
+                    // 110
+                    // 011
+
+        TYPE_33_3,  // 000
+                    // 110
+                    // 001
+
+        TYPE_45,    // 100
+                    // 010
+                    // 001
+
+        TYPE_56_1,  // 010
+                    // 010
+                    // 001
+        TYPE_67_2_1,
+        TYPE_67_2_2,
+        TYPE_78_3,
+        TYPE_90,
+        TYPE_101_1,
+        TYPE_112_2_1,
+        TYPE_112_2_2,
+        TYPE_123_3,
+        TYPE_135,
+        TYPE_146_1,
+        TYPE_157_2_1,
+        TYPE_157_2_2,
+        TYPE_168_3
+    };
+
     SvKernelV2();
     virtual ~SvKernelV2();
     void exec(int line) override;
+
+    int max(int x, int y);
+    unsigned int figureType(int x, int y, int level);
 };
 
 #endif // SVKERNELV2_H