From 695aff67a206c6c499315682ae6fa3158bb18c4f Mon Sep 17 00:00:00 2001
From: Andrey Tkachenko <andrey.tkachenko@opensoftdev.ru>
Date: Tue, 10 Jun 2014 19:07:43 +0400
Subject: [PATCH] Create Threshold

---
 src/Test.cpp | 47 ++++++++++++++++++++++++++++++-----------------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/src/Test.cpp b/src/Test.cpp
index bf3a3cd..b442c0c 100644
--- a/src/Test.cpp
+++ b/src/Test.cpp
@@ -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));