andrey/dispmap
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This commit is contained in:
Andrey Tkachenko 2014-06-09 10:00:50 +04:00
commit bb59ba0d7e
1 changed files with 6 additions and 11 deletions
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17
src/Test.cpp
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@ -21,7 +21,7 @@ typedef struct {
} StereoData; } StereoData;
#define WINDOW_START 0 #define WINDOW_START 0
#define WINDOW_SIZE 70 #define WINDOW_SIZE 78
#define MATCH_SIZE 3 #define MATCH_SIZE 3
#define ERROR_LEVEL 1 #define ERROR_LEVEL 1
@ -95,10 +95,6 @@ void calcDepthMapMy2(StereoData &params) {
for (x = 0; x < params.stereo->cols; x++) { for (x = 0; x < params.stereo->cols; x++) {
closest = 999; minErrorValue = 999;matched=0; closest = 999; minErrorValue = 999;matched=0;
for (int i = 0; i < WINDOW_SIZE; i++) { for (int i = 0; i < WINDOW_SIZE; i++) {
if (getPixelValue(params.visited, x + i, y)) {
continue;
}
tmp = match(params, x, y, i); tmp = match(params, x, y, i);
tmpSmoothed = tmp; tmpSmoothed = tmp;
@ -116,13 +112,12 @@ void calcDepthMapMy2(StereoData &params) {
if (matched) { if (matched) {
cursor = closest; cursor = closest;
putPixel(params.visited, x + cursor, y, 50);
putPixel(params.stereo, x, y, cursor); putPixel(params.stereo, x, y, cursor);
} }
/*
/*closest = 999;minErrorValue = 999; closest = 999;minErrorValue = 999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) { for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = rmatch(params, params.stereo->cols - x, y, i) ; tmp = rmatch(params, params.stereo->cols - x, y, i) ;
@ -141,8 +136,8 @@ void calcDepthMapMy2(StereoData &params) {
if (closest != 999) { if (closest != 999) {
if (cursor2 != closest) { if (cursor2 != closest) {
cursor2 = closest; cursor2 = closest;
putPixel(params, params.stereo->cols - x, y, cursor2);
} }
putPixel(params.stereo, params.stereo->cols - x - cursor2, y, cursor2);
}*/ }*/
} }
} }
@ -151,8 +146,8 @@ void calcDepthMapMy2(StereoData &params) {
int main(int argc, char** argv) { int main(int argc, char** argv) {
StereoData params; StereoData params;
Mat left = imread("left6.png", 1); Mat left = imread("left2.png", 1);
Mat right = imread("right6.png", 1); Mat right = imread("right2.png", 1);
cvtColor(left, left, CV_BGR2GRAY); cvtColor(left, left, CV_BGR2GRAY);
cvtColor(right, right, CV_BGR2GRAY); cvtColor(right, right, CV_BGR2GRAY);