From eefc851af54e9969aee5192eaed3fe3b3e4150cc Mon Sep 17 00:00:00 2001
From: Andrey Tkachenko <andrey.tkachenko@opensoftdev.ru>
Date: Wed, 23 Jul 2014 15:44:35 +0400
Subject: [PATCH] Additional Pixels

---
 main.cpp       |  4 ++--
 svkernelv2.cpp | 55 +++++++++++++++++++++++++++++++++-----------------
 2 files changed, 39 insertions(+), 20 deletions(-)

diff --git a/main.cpp b/main.cpp
index fda8adb..91c4b90 100644
--- a/main.cpp
+++ b/main.cpp
@@ -15,8 +15,8 @@ int main(int argc, char *argv[])
     QQmlApplicationEngine engine;
     SvImageProvider imageProvider;
 
-    QImage imgLeft("../ComputerVision/img/left.png");
-    QImage imgRight("../ComputerVision/img/right4.png");
+    QImage imgLeft("../CSV/img/left1.png");
+    QImage imgRight("../CSV/img/right1.png");
     QImage imgStereo(imgLeft.width(), imgLeft.height(), QImage::Format_RGB32);
 
     SvImage left(imgLeft);
diff --git a/svkernelv2.cpp b/svkernelv2.cpp
index b9645b7..c3616e7 100644
--- a/svkernelv2.cpp
+++ b/svkernelv2.cpp
@@ -24,54 +24,73 @@ int SvKernelV2::rgbDiff(QRgb left, QRgb right)
     int minDiff= leftDiff < rightDiff ? rightDiff : leftDiff;
 
     int diff = cLeft.value() - cRight.value();
-    int hsvDiff = abs(cLeft.hsvHue() - cRight.hsvHue());
+    int hsvDiff = minDiff > 70 ? abs(cLeft.hsvHue() - cRight.hsvHue()) : 0;
     if (hsvDiff > 180) {
         hsvDiff = 360 - hsvDiff;
     }
 
-    return (rightDiff - leftDiff) + diff;  /*diff + (minDiff > 20 ? sign(diff) * hsvDiff : 0)*/;
+    int dsign = sign(diff);
+    dsign = dsign == 0 ? 1 : dsign;
+
+    return /*dsign * ((rightDiff - leftDiff)>>2) + */diff /*+ (hsvDiff > 5 ? dsign * 10 : 0)*/;
 }
 
 void SvKernelV2::exec(int line)
 {
-    QRgb vtop, top, right, bottom, _xy, xy;
+    QRgb vtop, top, right, bottom, vbottom, _xy, xy;
 
-    int dX, _dX, dX_,
-        dY, _dY, dY_;
+    int __dX, _dX, dX, dX_,
+        __dY, _dY, dY, dY_;
 
     int value;
 
     for (int x = 0; x < m_result->getWidth(); x++) {
         value = 0;
 
-        vtop   = m_left->getPixelRGB(x - 1, line - 3);
-        top    = m_left->getPixelRGB(x - 1, line - 2);
-        right  = m_left->getPixelRGB(x,     line - 1);
-        bottom = m_left->getPixelRGB(x - 1, line);
-        xy     = m_left->getPixelRGB(x - 1, line - 1);
+        vtop    = m_left->getPixelRGB(x - 1, line - 3);
+        top     = m_left->getPixelRGB(x - 1, line - 2);
+        right   = m_left->getPixelRGB(x,     line - 1);
+        bottom  = m_left->getPixelRGB(x - 1, line);
+        vbottom = m_left->getPixelRGB(x - 1, line + 1);
+        xy      = m_left->getPixelRGB(x - 1, line - 1);
 
         dX_ = rgbDiff(_xy, right);
         dY_ = rgbDiff(vtop, top);
         dY  = rgbDiff(top, _xy);
         _dY = rgbDiff(_xy, bottom);
+        __dY = rgbDiff(bottom, vbottom);
 
-
-        if ( dX > _dX && dX > dX_ ||
-             dX < _dX && dX < dX_) {
-
-            value += abs(dX);
+        if ( dX >= _dX && dX > dX_ ||
+             dX <= _dX && dX < dX_) {
+            if (dX == _dX) {
+                if (dX > dX_ && _dX > __dX ||
+                    dX < dX_ && _dX < __dX) {
+                    value += abs(dX);
+                }
+            } else {
+                value += abs(dX);
+            }
         }
 
-        if ( dY > _dY && dY > dY_ ||
-             dY < _dY && dY < dY_) {
+        if ( dY >= _dY && dY > dY_ ||
+             dY <= _dY && dY < dY_) {
 
-            value += abs(dY);
+            if (dY == _dY) {
+                if (dY > dY_ && _dY > __dY ||
+                    dY < dY_ && _dY < __dY) {
+
+                    value += abs(dY);
+                }
+            } else {
+                value += abs(dY);
+            }
         }
 
         if (value > 0) {
             m_result->putGrayPixel(x - 1, line - 1, value);
         }
 
+        __dX = _dX;
         _dX = dX;
          dX = dX_;
         _xy = right;