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Create Threshold

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This commit is contained in:
Andrey Tkachenko 2014-06-10 19:07:43 +04:00
parent 5045cea5f9
commit 695aff67a2
1 changed files with 30 additions and 17 deletions
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47
src/Test.cpp
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@ -17,19 +17,19 @@ typedef struct {
Mat* left;
Mat* right;
Mat* stereo;
Mat* visited;
} StereoData;
#define WINDOW_START 0
#define WINDOW_SIZE 70
#define MATCH_SIZE 3
#define WINDOW_SIZE 150
#define MATCH_SIZE 2
#define ERROR_LEVEL 1
int getPixelValue(Mat* data, int x, int y)
{
uchar* pixel = data->ptr(y, x);
uchar value = 0.299 * pixel[0] + 0.587 * pixel[1] + 0.114 * pixel[2];
return pixel[0] + pixel[1] + pixel[2];
return value;
}
void normalize(Mat* mat, int x_from, int x_to, int y)
@ -58,7 +58,7 @@ 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, val;
int error = 0;
for (int i = 0; i < MATCH_SIZE; i++) {
if (x + j + i >= params.right->cols) {
return 999;
@ -68,9 +68,8 @@ int match(StereoData &params, int x, int y, int j) {
if (y + g >= params.right->rows) {
return 999;
}
val = abs(getPixelValue(params.left, x + i, y + g) - getPixelValue(params.right, x + j + i, y + g));
error += val;
error += abs(getPixelValue(params.left, x + i, y + g) - getPixelValue(params.right, x + j + i, y + g));
}
}
@ -99,7 +98,7 @@ int rmatch(StereoData &params, int x, int y, int j) {
int getPixelColor(int cursor)
{
float val = ((1.0 + cursor) / WINDOW_SIZE);
return (val * val * val) * 255.0;
return (val * val) * 255.0;
}
void putPixel(Mat* mat, int x, int y, int cursor)
@ -111,23 +110,24 @@ void putPixel(Mat* mat, int x, int y, int cursor)
data[0] = getPixelColor(cursor);
}
void calcDepthMapMy2(StereoData &params) {
int x, y, cursor, closest, tmp;
int minErrorValue, tmpSmoothed, matched;
int precursor;
for (y = 0; y < params.stereo->rows; y++) {
cursor = 0;
cursor = 25;precursor=25;
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 + (1 * abs(cursor - i));
tmpSmoothed = tmp + (0.2 * abs(cursor - i));
if (tmpSmoothed < minErrorValue) {
minErrorValue = tmpSmoothed;
closest = i;
matched = 1;
closest = i ;
} else if (tmpSmoothed == minErrorValue) {
if (abs(cursor - i) < abs(cursor - closest)) {
closest = i;
@ -138,8 +138,17 @@ void calcDepthMapMy2(StereoData &params) {
if (matched) {
cursor = closest;
putPixel(params.stereo, x + cursor, y, cursor);
}
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);
precursor=cursor;
}
}
@ -167,18 +176,22 @@ void calcDepthMapMy2(StereoData &params) {
if (matched) {
cursor = closest;
putPixel(params.stereo, params.stereo->cols - x - cursor - 1, y, cursor);
if (minErrorValue < 50) {
putPixel(params.stereo, params.stereo->cols - x, y, 0);
}
}
}
}*/
}
int main(int argc, char** argv) {
StereoData params;
Mat left = imread("left6.png", 1);
Mat right = imread("right6.png", 1);
Mat left = imread("left4.png", 1);
Mat right = imread("right4.png", 1);
Mat stereo(Mat::zeros(left.rows, left.cols, CV_8U));