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This commit is contained in:
Andrey Tkachenko 2014-06-06 16:54:14 +04:00
parent 1393dfa99d
commit c039dafde2
1 changed files with 32 additions and 58 deletions
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90
src/Test.cpp
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@ -21,8 +21,8 @@ typedef struct {
} StereoData;
#define WINDOW_START 0
#define WINDOW_SIZE 220
#define MATCH_SIZE 4
#define WINDOW_SIZE 70
#define MATCH_SIZE 3
#define ERROR_LEVEL 1
int getPixelValue(Mat* data, int x, int y)
@ -75,81 +75,57 @@ int getPixelColor(int cursor)
return (val * val * val) * 255.0;
}
void putPixel(StereoData &params, int x, int y, int cursor)
void putPixel(Mat* mat, int x, int y, int cursor)
{
uchar* data;
data = params.stereo->ptr(y, x);
data = mat->ptr(y, x);
data[0] = getPixelColor(cursor);
}
void calcDepthMapMy2(StereoData &params) {
int x, y, cursor, cursor2, matched, closest;
int minErrorValue, tmp, d;
int x, y, cursor, cursor2, closest;
int minErrorValue, tmp, minLevel = 0, tmpSmoothed;
int rightLevel = 0, matched;
for (y = 0; y < params.stereo->rows; y++) {
cursor = 0; cursor2 = 0;
cursor = 0; cursor2 = 0;rightLevel=0;
for (x = 0; x < params.stereo->cols; x++) {
closest = 999; minErrorValue = 999;matched=0;
for (int i = 0; i < WINDOW_SIZE; i++) {
if (getPixelValue(params.visited, x + i, y)) {
continue;
}
closest = 999;minErrorValue = 999; d = 999;
tmp = match(params, x, y, i);
tmpSmoothed = tmp;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = match(params, x, y, i) / 1;
if (tmp < minErrorValue) {
minErrorValue = tmp;
closest = i;
d = abs(cursor - i);
}
if (tmp == minErrorValue) {
matched = 1;
} else if (tmp == minErrorValue) {
if (abs(cursor - i) < abs(cursor - closest)) {
closest = i;
d = abs(cursor - i);
closest = i ;
matched++;
}
}
}
if (closest != 999) {
//if (cursor != closest) {
cursor = closest;
putPixel(params, x + cursor + 1, y, cursor);
//}
if (matched) {
cursor = closest;
putPixel(params.visited, x + cursor, y, 50);
putPixel(params.stereo, x, y, cursor);
}
/*closest = 999;minErrorValue = 999; d = 999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = rmatch(params, params.stereo->cols - x, y, i) / 50;
if (tmp < minErrorValue) {
minErrorValue = tmp;
closest = i;
}
if (tmp == minErrorValue) {
if (abs(cursor2 - i) < abs(cursor2 - closest)) {
closest = i;
}
}
}
if (closest != 999) {
//if (cursor2 != closest) {
cursor2 = closest;
putPixel(params, params.stereo->cols - x, y, cursor2);
//}
}*/
/*closest = 999;minErrorValue = 999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = rmatch(params, params.stereo->cols - x - 1, y, i) / ERROR_LEVEL;
tmp = rmatch(params, params.stereo->cols - x, y, i) ;
if (tmp < minErrorValue) {
minErrorValue = tmp;
closest = i;
@ -163,14 +139,11 @@ void calcDepthMapMy2(StereoData &params) {
}
if (closest != 999) {
cursor2 = closest;
}
tmp = getPixelValue(params.stereo, params.stereo->cols - x - 1, y);
if (!tmp || tmp > cursor2) {
putPixel(params, params.stereo->cols - x - 1, y, cursor2);
if (cursor2 != closest) {
cursor2 = closest;
putPixel(params, params.stereo->cols - x, y, cursor2);
}
}*/
}
}
}
@ -178,8 +151,8 @@ void calcDepthMapMy2(StereoData &params) {
int main(int argc, char** argv) {
StereoData params;
Mat left = imread("left7.png", 1);
Mat right = imread("right7.png", 1);
Mat left = imread("left6.png", 1);
Mat right = imread("right6.png", 1);
cvtColor(left, left, CV_BGR2GRAY);
cvtColor(right, right, CV_BGR2GRAY);
@ -196,6 +169,7 @@ int main(int argc, char** argv) {
calcDepthMapMy2(params);
imshow("Display Image Dyn Progr", stereo);
//imshow("Display Image Dyn Progr1", visited);
waitKey();
return 0;