added variational stereo correspondence (by Sergey Kosov) and polynomial fitting (by Onkar Raut)

modules/contrib/include/opencv2/contrib/contrib.hpp

@@ -562,6 +562,48 @@ namespace cv
                                   double minMatchDistance = 1.0, int padX = 3,
                                   int padY = 3, int scales = 5, double minScale = 0.6, double maxScale = 1.6,
                                   double orientationWeight = 0.5, double truncate = 20);
+    
+    
+    class CV_EXPORTS StereoVar
+    {
+    public:
+        // Flags	
+        enum {USE_INITIAL_DISPARITY = 1, USE_EQUALIZE_HIST = 2, USE_SMART_ID = 4, USE_MEDIAN_FILTERING = 8};
+        enum {CYCLE_O, CYCLE_V};
+        enum {PENALIZATION_TICHONOV, PENALIZATION_CHARBONNIER, PENALIZATION_PERONA_MALIK};
+        
+        //! the default constructor
+        CV_WRAP StereoVar();
+        
+        //! the full constructor taking all the necessary algorithm parameters
+        CV_WRAP StereoVar(int levels, double pyrScale, int nIt, int minDisp, int maxDisp, int poly_n, double poly_sigma, float fi, float lambda, int penalization, int cycle, int flags);
+        
+        //! the destructor
+        virtual ~StereoVar();
+        
+        //! the stereo correspondence operator that computes disparity map for the specified rectified stereo pair
+        CV_WRAP_AS(compute) virtual void operator()(const Mat& left, const Mat& right, Mat& disp);
+        
+        CV_PROP_RW int		levels;
+        CV_PROP_RW double	pyrScale;
+        CV_PROP_RW int		nIt;
+        CV_PROP_RW int		minDisp;
+        CV_PROP_RW int		maxDisp;
+        CV_PROP_RW int		poly_n;
+        CV_PROP_RW double	poly_sigma;
+        CV_PROP_RW float	fi;
+        CV_PROP_RW float	lambda;
+        CV_PROP_RW int		penalization;
+        CV_PROP_RW int		cycle;
+        CV_PROP_RW int		flags;
+        
+    private:
+        void FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level);
+        void VCycle_MyFAS(Mat &I1_h, Mat &I2_h, Mat &I2x_h, Mat &u_h, int level);
+        void VariationalSolver(Mat &I1_h, Mat &I2_h, Mat &I2x_h, Mat &u_h, int level);
+    };
+    
+    CV_EXPORTS void polyfit(const Mat& srcx, const Mat& srcy, Mat& dst, int order);
 }
 
 

modules/contrib/src/polyfit.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+// This original code was written by
+//  Onkar Raut
+//  Graduate Student,
+//  University of North Carolina at Charlotte
+
+#include "precomp.hpp"
+
+void cv::polyfit(const Mat& src_x, const Mat& src_y, Mat& dst, int order)
+{
+    CV_Assert((src_x.rows>0)&&(src_y.rows>0)&&(src_x.cols==1)&&(src_y.cols==1)
+            &&(dst.cols==1)&&(dst.rows==(order+1))&&(order>=1));
+    Mat X;
+    X = Mat::zeros(src_x.rows, order+1,CV_32FC1);
+    Mat copy;
+    for(int i = 0; i <=order;i++)
+    {
+        copy = src_x.clone();
+        pow(copy,i,copy);
+        Mat M1 = X.col(i);
+        copy.col(0).copyTo(M1);
+    }
+    Mat X_t, X_inv;
+    transpose(X,X_t);
+    Mat temp = X_t*X;
+    Mat temp2;
+    invert (temp,temp2);
+    Mat temp3 = temp2*X_t;
+    Mat W = temp3*src_y;
+    W.copyTo(dst);
+}

modules/contrib/src/stereovar.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+/*
+ This is a modification of the variational stereo correspondence algorithm, described in:
+ S. Kosov, T. Thormaehlen, H.-P. Seidel "Accurate Real-Time Disparity Estimation with Variational Methods"
+ Proceedings of the 5th International Symposium on Visual Computing, Vegas, USA
+
+ This code is written by Sergey G. Kosov for "Visir PX" application as part of Project X (www.project-10.de)
+ */ 
+
+#include "precomp.hpp"
+#include <limits.h>
+
+namespace cv 
+{
+StereoVar::StereoVar() : levels(3), pyrScale(0.5), nIt(3), minDisp(0), maxDisp(16), poly_n(5), poly_sigma(1.2), fi(1000.0f), lambda(0.0f), penalization(PENALIZATION_TICHONOV), cycle(CYCLE_V), flags(USE_SMART_ID) 
+{
+}
+
+StereoVar::StereoVar(int _levels, double _pyrScale, int _nIt, int _minDisp, int _maxDisp, int _poly_n, double _poly_sigma, float _fi, float _lambda, int _penalization, int _cycle, int _flags) : levels(_levels), pyrScale(_pyrScale), nIt(_nIt), minDisp(_minDisp), maxDisp(_maxDisp), poly_n(_poly_n), poly_sigma(_poly_sigma), fi(_fi), lambda(_lambda), penalization(_penalization), cycle(_cycle), flags(_flags)
+{ // No Parameters check, since they are all public
+}
+
+StereoVar::~StereoVar()
+{
+}
+
+static Mat diffX(Mat &img)
+{
+	// TODO try pointers or assm
+	register int x, y;
+	Mat dst(img.size(), img.type());
+	dst.setTo(0);
+	for (x = 0; x < img.cols - 1; x++)
+		for (y = 0; y < img.rows; y++)
+			dst.at<float>(y, x) = img.at<float>(y, x + 1) - img.at<float>(y ,x);
+	return dst;
+}
+
+static Mat Gradient(Mat &img)
+{
+	Mat sobel, sobelX, sobelY;
+	img.copyTo(sobelX);
+	img.copyTo(sobelY);
+	Sobel(img, sobelX, sobelX.type(), 1, 0, 1);
+	Sobel(img, sobelY, sobelY.type(), 0, 1, 1);
+	sobelX = abs(sobelX);
+	sobelY = abs(sobelY);
+	add(sobelX, sobelY, sobel);
+	sobelX.release();
+	sobelY.release();
+	return sobel;
+}
+
+static float g_c(Mat z, int x, int y, float l)
+{
+	return 0.5f*l / sqrtf(l*l + z.at<float>(y,x)*z.at<float>(y,x));
+}
+
+static float g_p(Mat z, int x, int y, float l)
+{
+	return 0.5f*l*l / (l*l + z.at<float>(y,x)*z.at<float>(y,x)) ;
+}
+
+void StereoVar::VariationalSolver(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level)
+{
+	register int n, x, y;
+	float gl = 1, gr = 1, gu = 1, gd = 1, gc = 4;
+	Mat U; 
+	Mat Sobel;
+	u.copyTo(U);
+
+	int		N = nIt;
+	float	l = lambda;
+	float	Fi = fi;
+
+	double scale = pow(pyrScale, (double) level);
+	if (flags & USE_SMART_ID) {										
+		N = (int) (N / scale);
+		Fi /= (float) scale;
+		l *= (float) scale;
+	}
+	for (n = 0; n < N; n++) {
+		if (penalization != PENALIZATION_TICHONOV) {if(!Sobel.empty()) Sobel.release(); Sobel = Gradient(U);}
+		for (x = 1; x < u.cols - 1; x++) {
+			for (y = 1 ; y < u.rows - 1; y++) {
+				switch (penalization) {
+					case PENALIZATION_CHARBONNIER:
+						gc = g_c(Sobel, x, y, l);
+						gl = gc + g_c(Sobel, x - 1, y, l);
+						gr = gc + g_c(Sobel, x + 1, y, l);
+						gu = gc + g_c(Sobel, x, y + 1, l);
+						gd = gc + g_c(Sobel, x, y - 1, l);
+						gc = gl + gr + gu + gd;
+						break;
+					case PENALIZATION_PERONA_MALIK:
+						gc = g_p(Sobel, x, y, l);
+						gl = gc + g_p(Sobel, x - 1, y, l);
+						gr = gc + g_p(Sobel, x + 1, y, l);
+						gu = gc + g_p(Sobel, x, y + 1, l);
+						gd = gc + g_p(Sobel, x, y - 1, l);
+						gc = gl + gr + gu + gd;
+						break;
+				}
+
+				float fi = Fi;
+				if (maxDisp > minDisp) {
+					if (U.at<float>(y,x) > maxDisp * scale) {fi*=1000; U.at<float>(y,x) = static_cast<float>(maxDisp * scale);} 
+					if (U.at<float>(y,x) < minDisp * scale) {fi*=1000; U.at<float>(y,x) = static_cast<float>(minDisp * scale);} 
+				}
+
+				int A = (int) (U.at<float>(y,x));
+				int neg = 0; if (U.at<float>(y,x) <= 0) neg = -1;
+
+				if (x + A >= u.cols)
+					u.at<float>(y, x) = U.at<float>(y, u.cols - A - 1);
+				else if (x + A + neg < 0)
+					u.at<float>(y, x) = U.at<float>(y, - A + 2);
+				else { 
+					u.at<float>(y, x) = A + (I2x.at<float>(y, x + A + neg) * (I1.at<float>(y, x) - I2.at<float>(y, x + A))
+										  + fi * (gr * U.at<float>(y, x + 1) + gl * U.at<float>(y, x - 1) + gu * U.at<float>(y + 1, x) + gd * U.at<float>(y - 1, x) - gc * A)) 
+										  / (I2x.at<float>(y, x + A + neg) * I2x.at<float>(y, x + A + neg) + gc * fi) ; 
+				}
+			}//y
+			u.at<float>(0, x) = u.at<float>(1, x);
+			u.at<float>(u.rows - 1, x) = u.at<float>(u.rows - 2, x);
+		}//x
+		for (y = 0; y < u.rows; y++) {
+			u.at<float>(y, 0) = u.at<float>(y, 1);
+			u.at<float>(y, u.cols - 1) = u.at<float>(y, u.cols - 2);
+		}
+		u.copyTo(U);
+	}//n
+}
+
+void StereoVar::VCycle_MyFAS(Mat &I1, Mat &I2, Mat &I2x, Mat &_u, int level)
+{
+	CvSize imgSize = _u.size();
+	CvSize frmSize = cvSize((int) (imgSize.width * pyrScale + 0.5), (int) (imgSize.height * pyrScale + 0.5));
+	Mat I1_h, I2_h, I2x_h, u_h, U, U_h;
+
+	//PRE relaxation
+	VariationalSolver(I1, I2, I2x, _u, level);
+
+	if (level >= levels - 1) return;
+	level ++;
+
+	//scaling DOWN
+	resize(I1, I1_h, frmSize, 0, 0, INTER_AREA);
+	resize(I2, I2_h, frmSize, 0, 0, INTER_AREA);
+	resize(_u, u_h, frmSize, 0, 0, INTER_AREA);
+	u_h.convertTo(u_h, u_h.type(), pyrScale);
+	I2x_h = diffX(I2_h);
+
+	//Next level
+	U_h = u_h.clone();
+	VCycle_MyFAS(I1_h, I2_h, I2x_h, U_h, level);
+
+	subtract(U_h, u_h, U_h);
+	U_h.convertTo(U_h, U_h.type(), 1.0 / pyrScale);
+
+	//scaling UP
+	resize(U_h, U, imgSize);
+
+	//correcting the solution
+	add(_u, U, _u);
+
+	//POST relaxation
+	VariationalSolver(I1, I2, I2x, _u, level - 1);
+
+	if (flags & USE_MEDIAN_FILTERING) medianBlur(_u, _u, 3);
+
+	I1_h.release();
+	I2_h.release();
+	I2x_h.release();
+	u_h.release();
+	U.release();
+	U_h.release();
+}
+
+void StereoVar::FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level)
+{
+	double	scale = pow(pyrScale, (double) level);
+	CvSize	frmSize = cvSize((int) (u.cols * scale + 0.5), (int) (u.rows * scale + 0.5));
+	Mat I1_h, I2_h, I2x_h, u_h;
+
+	//scaling DOWN
+	resize(I1, I1_h, frmSize, 0, 0, INTER_AREA);
+	resize(I2, I2_h, frmSize, 0, 0, INTER_AREA);
+	resize(u, u_h, frmSize, 0, 0, INTER_AREA);
+	u_h.convertTo(u_h, u_h.type(), scale);
+	I2x_h = diffX(I2_h);
+
+	switch (cycle) {
+		case CYCLE_O:
+			VariationalSolver(I1_h, I2_h, I2x_h, u_h, level);
+			break;
+		case CYCLE_V:
+			VCycle_MyFAS(I1_h, I2_h, I2x_h, u_h, level);
+			break;
+	}
+
+	u_h.convertTo(u_h, u_h.type(), 1.0 / scale);
+
+	//scaling UP
+	resize(u_h, u, u.size(), 0, 0, INTER_CUBIC);
+
+	I1_h.release();
+	I2_h.release();
+	I2x_h.release();
+	u_h.release();
+
+	level--;
+	if (flags & USE_MEDIAN_FILTERING) medianBlur(u, u, 3);
+	if (level >= 0) FMG(I1, I2, I2x, u, level);
+}
+
+void StereoVar::operator ()( const Mat& left, const Mat& right, Mat& disp )
+{
+	CV_Assert(left.size() == right.size() && left.type() == right.type());
+	CvSize imgSize = left.size();
+	int MaxD = MAX(std::abs(minDisp), std::abs(maxDisp)); 
+	int SignD = 1; if (MIN(minDisp, maxDisp) < 0) SignD = -1;
+	if (minDisp >= maxDisp) {MaxD = 256; SignD = 1;}
+		
+	Mat u;
+	if ((flags & USE_INITIAL_DISPARITY) && (!disp.empty())) {
+		CV_Assert(disp.size() == left.size() && disp.type() == CV_8UC1);
+		disp.convertTo(u, CV_32FC1, static_cast<double>(SignD * MaxD) / 256);
+	} else {
+		u.create(imgSize, CV_32FC1);
+		u.setTo(0);
+	}
+
+	// Preprocessing
+	Mat leftgray, rightgray;
+	if (left.type() != CV_8UC1) {
+		cvtColor(left, leftgray, CV_BGR2GRAY);
+		cvtColor(right, rightgray, CV_BGR2GRAY);
+	} else {
+		left.copyTo(leftgray);
+		right.copyTo(rightgray);
+	}
+	if (flags & USE_EQUALIZE_HIST) {
+		equalizeHist(leftgray, leftgray);
+		equalizeHist(rightgray, rightgray);
+	}
+	if (poly_sigma > 0.0001) {
+		GaussianBlur(leftgray, leftgray, cvSize(poly_n, poly_n), poly_sigma);
+		GaussianBlur(rightgray, rightgray, cvSize(poly_n, poly_n), poly_sigma);
+	}
+		
+	Mat I1, I2;
+	leftgray.convertTo(I1, CV_32FC1);
+	rightgray.convertTo(I2, CV_32FC1);
+	leftgray.release();
+	rightgray.release();
+
+	Mat I2x = diffX(I2);
+		
+	FMG(I1, I2, I2x, u, levels - 1);		
+		
+	I1.release();
+	I2.release();
+	I2x.release();
+	
+	
+	disp.create( left.size(), CV_8UC1 );
+	u = abs(u);
+	u.convertTo(disp, disp.type(), 256 / MaxD, 0);	
+
+	u.release();
+}
+} // namespace
\ No newline at end of file

samples/cpp/stereo_match.cpp

@@ -10,6 +10,7 @@
 #include "opencv2/calib3d/calib3d.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/highgui/highgui.hpp"
+#include "opencv2/contrib/contrib.hpp"
 
 #include <stdio.h>
 
@@ -18,7 +19,7 @@ using namespace cv;
 void print_help()
 {
 	printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
-    printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
+    printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|var] [--blocksize=<block_size>]\n"
            "[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
            "[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
 }
@@ -59,13 +60,14 @@ int main(int argc, char** argv)
     const char* disparity_filename = 0;
     const char* point_cloud_filename = 0;
     
-    enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };
+    enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3 };
     int alg = STEREO_SGBM;
     int SADWindowSize = 0, numberOfDisparities = 0;
     bool no_display = false;
     
     StereoBM bm;
     StereoSGBM sgbm;
+    StereoVar var;
     
     for( int i = 1; i < argc; i++ )
     {
@@ -81,7 +83,8 @@ int main(int argc, char** argv)
             char* _alg = argv[i] + strlen(algorithm_opt);
             alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
                   strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
-                  strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;
+                  strcmp(_alg, "hh") == 0 ? STEREO_HH :
+                  strcmp(_alg, "var") == 0 ? STEREO_VAR : -1;
             if( alg < 0 )
             {
                 printf("Command-line parameter error: Unknown stereo algorithm\n\n");
@@ -192,7 +195,7 @@ int main(int argc, char** argv)
         img2 = img2r;
     }
     
-    numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;
+    numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : ((img_size.width/8) + 15) & -16;
     
     bm.state->roi1 = roi1;
     bm.state->roi2 = roi2;
@@ -221,6 +224,19 @@ int main(int argc, char** argv)
     sgbm.disp12MaxDiff = 1;
     sgbm.fullDP = alg == STEREO_HH;
     
+    var.levels = 6;
+	var.pyrScale = 0.6;
+	var.nIt = 3;
+	var.minDisp = -numberOfDisparities;
+	var.maxDisp = 0;
+	var.poly_n = 3;
+	var.poly_sigma = 0.0;
+	var.fi = 5.0f;
+	var.lambda = 0.1;
+	var.penalization = var.PENALIZATION_TICHONOV;
+	var.cycle = var.CYCLE_V;
+	var.flags = var.USE_SMART_ID | var.USE_INITIAL_DISPARITY | 1 * var.USE_MEDIAN_FILTERING ;
+    
     Mat disp, disp8;
     //Mat img1p, img2p, dispp;
     //copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
@@ -229,13 +245,18 @@ int main(int argc, char** argv)
     int64 t = getTickCount();
     if( alg == STEREO_BM )
         bm(img1, img2, disp);
-    else
+    else if( alg == STEREO_VAR )
+        var(img1, img2, disp);
+    else if( alg == STEREO_SGBM || alg == STEREO_HH )
         sgbm(img1, img2, disp);
     t = getTickCount() - t;
     printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
 
     //disp = dispp.colRange(numberOfDisparities, img1p.cols);
+    if( alg != STEREO_VAR )
         disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
+    else
+        disp.convertTo(disp8, CV_8U);
     if( !no_display )
     {
         namedWindow("left", 1);