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Smart Put Pixel

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This commit is contained in:
Andrey Tkachenko 2014-06-20 19:53:41 +04:00
parent b7016dbb5e
commit f5801cfb1c
1 changed files with 92 additions and 48 deletions
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140
src/Test.cpp
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@ -9,6 +9,7 @@
#include <iostream> #include <iostream>
#include <string> #include <string>
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include <algorithm>
using namespace std; using namespace std;
using namespace cv; using namespace cv;
@ -18,15 +19,16 @@ typedef struct {
Mat* right; Mat* right;
Mat* stereo; Mat* stereo;
Mat* temp; Mat* temp;
std::vector<int> match;
} StereoData; } StereoData;
#define WINDOW_START 0 #define WINDOW_START 0
#define WINDOW_SIZE 60 #define WINDOW_SIZE 80
#define MATCH_SIZE_X 2 #define MATCH_SIZE_X 3
#define MATCH_SIZE_Y 2 #define MATCH_SIZE_Y 3
#define ERROR_LEVEL 0 #define ERROR_LEVEL 0
#define Y_CORRECTION 0 #define Y_CORRECTION 0
#define COLOR_SCALE 0 #define COLOR_SCALE 4
int getPixelValue(Mat* data, int x, int y, int offset = -1) int getPixelValue(Mat* data, int x, int y, int offset = -1)
{ {
@ -78,15 +80,16 @@ void normalize(Mat* mat, int x_from, int x_to, int y)
} }
int match(StereoData &params, int x, int y, int j) { int match(StereoData &params, int x, int y, int j) {
int error = 0; int error = 0, val;
int Rvalue, Gvalue, Bvalue; int Rvalue, Gvalue, Bvalue;
params.match.clear();
for (int i = 0; i < MATCH_SIZE_X; i++) { for (int i = -(MATCH_SIZE_X / 2); i < MATCH_SIZE_X / 2; i++) {
if (x + j + i >= params.right->cols) { if (x + j + i >= params.right->cols) {
return 999; return 999;
} }
for (int g = 0; g < MATCH_SIZE_Y; g++) { for (int g = -(MATCH_SIZE_Y / 2); g < MATCH_SIZE_Y / 2; g++) {
val = 0;
if (y + g >= params.right->rows) { if (y + g >= params.right->rows) {
return 999; return 999;
} }
@ -95,12 +98,17 @@ int match(StereoData &params, int x, int y, int j) {
Gvalue = abs(getPixelValue(params.left, x + i, y + g, 1) - getPixelValue(params.right, x + j + i, y + g, 1)); Gvalue = abs(getPixelValue(params.left, x + i, y + g, 1) - getPixelValue(params.right, x + j + i, y + g, 1));
Bvalue = abs(getPixelValue(params.left, x + i, y + g, 2) - getPixelValue(params.right, x + j + i, y + g, 2)); Bvalue = abs(getPixelValue(params.left, x + i, y + g, 2) - getPixelValue(params.right, x + j + i, y + g, 2));
error += Rvalue << COLOR_SCALE; val += Rvalue << COLOR_SCALE;
error += Gvalue << COLOR_SCALE; val += Gvalue << COLOR_SCALE;
error += Bvalue << COLOR_SCALE; val += Bvalue << COLOR_SCALE;
params.match.push_back(g * MATCH_SIZE_X + i);
error += val;
} }
} }
std::sort(params.match.begin(), params.match.end());
return error; return error;
} }
@ -148,21 +156,21 @@ void putPixel(Mat* mat, int x, int y, int cursor)
} }
void calcDepthMapMy2(StereoData &params) { void calcDepthMapMy2(StereoData &params) {
int x, y, cursor, closest, tmp; int x, y, cursor, closest, tmp, minLevel=0;
int minErrorValue, tmpSmoothed, matched; int minErrorValue, tmpSmoothed, matched;
int precursor, preprecursor; int precursor, preprecursor;
for (y = 0; y < params.stereo->rows; y++) { for (y = 0; y < params.stereo->rows; y++) {
cursor = WINDOW_SIZE/2; cursor = 0;
precursor = WINDOW_SIZE/2; precursor = 0;
preprecursor = WINDOW_SIZE/2; preprecursor = 0;
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;
minErrorValue=999; minErrorValue=999;
for (int i = WINDOW_START; i < WINDOW_SIZE; i++) { for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
tmp = match(params, x, y, i); tmp = match(params, x, y, i);
tmpSmoothed = (tmp >> ERROR_LEVEL) + ((abs(cursor - i)) >> 12); tmpSmoothed = (tmp) + ((abs(cursor - i)) >> 4);
if (tmpSmoothed < minErrorValue) { if (tmpSmoothed < minErrorValue) {
minErrorValue = tmpSmoothed; minErrorValue = tmpSmoothed;
closest = i; closest = i;
@ -175,17 +183,40 @@ void calcDepthMapMy2(StereoData &params) {
} }
} }
if (matched) {
cursor = closest;
putPixel(params.stereo, x + cursor, y, cursor);
if (cursor-precursor > 0 && cursor-precursor < 10) { if (closest-cursor > 0 && closest-cursor < 5) {
for (int i = precursor; i < cursor; i++) { for (int i = cursor; i < closest; i++) {
//putPixel(params.stereo, x + i, y, 0); putPixel(params.stereo, x + i, y, 0);
}
} }
} }
if (matched == 1) {
//if (cursor != closest) {
if (params.match.size() > 2) {
int a = params.match.at(0);
int dx = a % MATCH_SIZE_X;
int dy = a / MATCH_SIZE_X;
putPixel(params.stereo, (x + closest) + dx, y + dy, closest);
a = params.match.at(1);
dx = a % MATCH_SIZE_X;
dy = a / MATCH_SIZE_X;
putPixel(params.stereo, (x + closest) + dx, y + dy, closest);
a = params.match.at(2);
dx = a % MATCH_SIZE_X;
dy = a / MATCH_SIZE_X;
putPixel(params.stereo, (x + closest) + dx, y + dy, closest);
}
//putPixel(params.stereo, (x + closest), y, closest);
cursor = closest;
}
preprecursor = precursor; preprecursor = precursor;
precursor = cursor; precursor = cursor;
} }
@ -217,7 +248,13 @@ void calcDepthMapMy2(StereoData &params) {
//if (abs(cursor - precursor)) { //if (abs(cursor - precursor)) {
//if (abs(getPixelColor(cursor) - getPixelValue(params.stereo, x, y)) < 50) { //if (abs(getPixelColor(cursor) - getPixelValue(params.stereo, x, y)) < 50) {
putPixel(params.stereo, x, y, cursor); //if (getPixelValue(params.stereo, x, y) == getPixelColor(cursor)) {
putPixel(params.temp, x, y, cursor);
//} else {
//putPixel(params.stereo, x, y, 0);
//}
//} else { //} else {
/// putPixel(params.stereo, x, y, 0); /// putPixel(params.stereo, x, y, 0);
//} //}
@ -232,38 +269,43 @@ void smooth(StereoData &params)
{ {
int t = 2; int t = 2;
int i,j, x,y,val,tmp,diff = 0; int i,j, x,y,val,tmp,diff = 0;
int count = 0, e=0; int count = 0, e=0, preval;
for (y = 0; y < params.stereo->rows; y++) { for (y = 0; y < params.stereo->rows; y++) {
for (x = 0; x < params.stereo->cols; x++) { for (x = 0; x < params.stereo->cols; x++) {
count=0; diff=0, e=0; count=0; diff=0, e=0;
val = getPixelValue(params.stereo, x, y, 0); val = getPixelValue(params.stereo, x, y, 0);
if (val) {
for (i=-t; i <= t; i++) {
for (j=-t; j <= t; j++) {
if (y >= params.stereo->rows || y < 0 || x >= params.stereo->cols || x < 0) {
continue;
}
for (i=-t; i <= t; i++) { if (i==0 && j==0) {
for (j=-t; j <= t; j++) { continue;
if (y >= params.stereo->rows || y < 0 || x >= params.stereo->cols || x < 0) { }
continue;
}
if (i==0 && j==0) { uchar* pixel = params.stereo->ptr(y+i, x+j);
continue;
}
uchar* pixel = params.stereo->ptr(y+i, x+j);
tmp = pixel[0]; tmp = pixel[0];
if (tmp) { if (tmp) {
diff += abs(val - tmp); diff += abs(val-tmp);
count++; e += tmp;
} else { count++;
e++; } else {
}
} }
} }
}
if (diff <= 400 && e < 24) {
putPixelValue(params.temp, x, y, val); /*if (count && diff < 300) {
putPixelValue(params.temp, x, y, val);
} else */if (count) {
putPixelValue(params.temp, x, y, e/count);
}
} }
} }
} }
@ -273,8 +315,8 @@ void smooth(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("left4_.png", 1);
Mat right = imread("right6.png", 1); Mat right = imread("right4_.png", 1);
Mat stereo(Mat::zeros(left.rows, left.cols, CV_8U)); Mat stereo(Mat::zeros(left.rows, left.cols, CV_8U));
Mat temp(Mat::zeros(left.rows, left.cols, CV_8U)); Mat temp(Mat::zeros(left.rows, left.cols, CV_8U));
@ -286,9 +328,11 @@ int main(int argc, char** argv) {
//calcDepthMapDynProgr(params); //calcDepthMapDynProgr(params);
calcDepthMapMy2(params); calcDepthMapMy2(params);
smooth(params); //smooth(params);
imshow("Display Image Stereo", stereo);
//imshow("Display Image Smoothed", temp);
imshow("Display Image Dyn Progr", temp);
waitKey(); waitKey();
return 0; return 0;