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Commit 12b530c6 authored by Muresan Mircea Paul's avatar Muresan Mircea Paul
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modified stereo for better results

parent 1ae4d2a8
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Showing with 46 additions and 53 deletions
modules/stereo/src/matching.hpp
View file @ 12b530c6
......@@ -281,20 +281,20 @@ namespace cv
}
};
//!median 1x9 paralelized filter
template <typename T>
class Median1x9:public ParallelLoopBody
{
private:
uint8_t *original;
uint8_t *filtered;
int height, width,_stride;
T *original;
T *filtered;
int height, width;
public:
Median1x9(const Mat &originalImage, Mat &filteredImage)
{
original = originalImage.data;
filtered = filteredImage.data;
original = (T *)originalImage.data;
filtered = (T *)filteredImage.data;
height = originalImage.rows;
width = originalImage.cols;
_stride = (int)originalImage.step;
}
void operator()(const cv::Range &r) const{
for (int m = r.start; m <= r.end; m++)
......@@ -302,39 +302,39 @@ namespace cv
for (int n = 4; n < width - 4; ++n)
{
int k = 0;
uint8_t window[9];
T window[9];
for (int i = n - 4; i <= n + 4; ++i)
window[k++] = original[m * _stride + i];
window[k++] = original[m * width + i];
for (int j = 0; j < 5; ++j)
{
int min = j;
for (int l = j + 1; l < 9; ++l)
if (window[l] < window[min])
min = l;
const uint8_t temp = window[j];
const T temp = window[j];
window[j] = window[min];
window[min] = temp;
}
filtered[m * _stride + n] = window[4];
filtered[m * width + n] = window[4];
}
}
}
};
//!median 9x1 paralelized filter
template <typename T>
class Median9x1:public ParallelLoopBody
{
private:
uint8_t *original;
uint8_t *filtered;
int height, width, _stride;
T *original;
T *filtered;
int height, width;
public:
Median9x1(const Mat &originalImage, Mat &filteredImage)
{
original = originalImage.data;
filtered = filteredImage.data;
original = (T *)originalImage.data;
filtered = (T *)filteredImage.data;
height = originalImage.rows;
width = originalImage.cols;
_stride = (int)originalImage.step;
}
void operator()(const Range &r) const{
for (int n = r.start; n <= r.end; ++n)
......@@ -342,20 +342,20 @@ namespace cv
for (int m = 4; m < height - 4; ++m)
{
int k = 0;
uint8_t window[9];
T window[9];
for (int i = m - 4; i <= m + 4; ++i)
window[k++] = original[i * _stride + n];
window[k++] = original[i * width + n];
for (int j = 0; j < 5; j++)
{
int min = j;
for (int l = j + 1; l < 9; ++l)
if (window[l] < window[min])
min = l;
const uint8_t temp = window[j];
const T temp = window[j];
window[j] = window[min];
window[min] = temp;
}
filtered[m * _stride + n] = window[4];
filtered[m * width + n] = window[4];
}
}
}
......@@ -471,6 +471,7 @@ namespace cv
parallel_for_(cv::Range(win + 1,height - win - 1), agregateCost(partialSums,windowSize,maxDisp,cost));
}
//!remove small regions that have an area smaller than t, we fill the region with the average of the good pixels around it
template <typename T>
void smallRegionRemoval(const Mat &currentMap, int t, Mat &out)
{
CV_Assert(currentMap.cols == out.cols);
......@@ -480,11 +481,11 @@ namespace cv
int *specklePointX = (int *)speckleX.data;
int *specklePointY = (int *)speckleY.data;
memset(pus, 0, previous_size * sizeof(pus[0]));
uint8_t *map = currentMap.data;
uint8_t *outputMap = out.data;
T *map = (T *)currentMap.data;
T *outputMap = (T *)out.data;
int height = currentMap.rows;
int width = currentMap.cols;
uint8_t k = 1;
T k = 1;
int st, dr;
int di[] = { -1, -1, -1, 0, 1, 1, 1, 0 },
dj[] = { -1, 0, 1, 1, 1, 0, -1, -1 };
......@@ -502,8 +503,8 @@ namespace cv
}
else if (map[iw + j] == 0)
{
int nr = 1;
int avg = 0;
T nr = 1;
T avg = 0;
speckle_size = dr;
specklePointX[dr] = i;
specklePointY[dr] = j;
......@@ -520,7 +521,7 @@ namespace cv
if (ii + di[d] >= 0 && ii + di[d] < height && jj + dj[d] >= 0 && jj + dj[d] < width &&
pus[(ii + di[d]) * width + jj + dj[d]] == 0)
{
int val = map[(ii + di[d]) * width + jj + dj[d]];
T val = map[(ii + di[d]) * width + jj + dj[d]];
if (val == 0)
{
map[(ii + di[d]) * width + jj + dj[d]] = k;
......@@ -529,7 +530,7 @@ namespace cv
dr++;
pus[(ii + di[d]) * width + jj + dj[d]] = 1;
}//this means that my point is a good point to be used in computing the final filling value
else if (val > 2 && val < 250)
else if (val >= 1 && val < 250)
{
avg += val;
nr++;
......@@ -540,7 +541,7 @@ namespace cv
}//if hole size is smaller than a specified threshold we fill the respective hole with the average of the good neighbours
if (st - speckle_size <= t)
{
uint8_t fillValue = (uint8_t)(avg / nr);
T fillValue = (T)(avg / nr);
while (speckle_size < st)
{
int ii = specklePointX[speckle_size];
......@@ -573,18 +574,20 @@ namespace cv
public:
//!a median filter of 1x9 and 9x1
//!1x9 median filter
template<typename T>
void Median1x9Filter(const Mat &originalImage, Mat &filteredImage)
{
CV_Assert(originalImage.rows == filteredImage.rows);
CV_Assert(originalImage.cols == filteredImage.cols);
parallel_for_(Range(1,originalImage.rows - 2), Median1x9(originalImage,filteredImage));
parallel_for_(Range(1,originalImage.rows - 2), Median1x9<T>(originalImage,filteredImage));
}
//!9x1 median filter
template<typename T>
void Median9x1Filter(const Mat &originalImage, Mat &filteredImage)
{
CV_Assert(originalImage.cols == filteredImage.cols);
CV_Assert(originalImage.cols == filteredImage.cols);
parallel_for_(Range(1,originalImage.cols - 2), Median9x1(originalImage,filteredImage));
parallel_for_(Range(1,originalImage.cols - 2), Median9x1<T>(originalImage,filteredImage));
}
//!constructor for the matching class
//!maxDisp - represents the maximum disparity
......
modules/stereo/src/stereo_binary_bm.cpp
View file @ 12b530c6
......@@ -324,7 +324,6 @@ namespace cv
int width = left0.cols;
int height = left0.rows;
if(previous_size != width * height)
{
previous_size = width * height;
......@@ -341,6 +340,8 @@ namespace cv
preFilteredImg0.create(left0.size(), CV_8U);
preFilteredImg1.create(left0.size(), CV_8U);
aux.create(height,width,CV_8UC1);
}
Mat left = preFilteredImg0, right = preFilteredImg1;
......@@ -405,12 +406,12 @@ namespace cv
costGathering(hammingDistance, partialSumsLR);
blockAgregation(partialSumsLR, params.agregationWindowSize, agregatedHammingLRCost);
dispartyMapFormation(agregatedHammingLRCost, disp0, 3);
Median1x9Filter(disp0, disp0);
Median9x1Filter(disp0,disp0);
Median1x9Filter<uint8_t>(disp0, aux);
Median9x1Filter<uint8_t>(aux,disp0);
if(params.regionRemoval == CV_SPECKLE_REMOVAL_AVG_ALGORITHM)
{
smallRegionRemoval(disp0,params.speckleWindowSize,disp0);
smallRegionRemoval<uint8_t>(disp0,params.speckleWindowSize,disp0);
}
else if(params.regionRemoval == CV_SPECKLE_REMOVAL_ALGORITHM)
{
......@@ -511,6 +512,7 @@ namespace cv
Mat hammingDistance;
Mat partialSumsLR;
Mat agregatedHammingLRCost;
Mat aux;
static const char* name_;
};
......
modules/stereo/src/stereo_binary_sgbm.cpp
View file @ 12b530c6
......@@ -701,32 +701,20 @@ namespace cv
speckleY.create(height,width,CV_32SC4);
puss.create(height,width,CV_32SC4);
}
double minVal; double maxVal;
Mat imgDisparity8U2;
imgDisparity8U2.create(height,width,CV_8UC1);
Mat aux;
aux.create(height,width,CV_8UC1);
minMaxLoc(disp, &minVal, &maxVal);
disp.convertTo(imgDisparity8U2, CV_8UC1, 255 / (maxVal - minVal));
Median1x9Filter(imgDisparity8U2, aux);
Median9x1Filter(aux,imgDisparity8U2);
smallRegionRemoval(imgDisparity8U2,params.speckleWindowSize,imgDisparity8U2);
imgDisparity8U2.convertTo(disp, CV_16S);
aux.create(height,width,CV_16S);
Median1x9Filter<short>(disp, aux);
Median9x1Filter<short>(aux,disp);
smallRegionRemoval<short>(disp, params.speckleWindowSize, disp);
}
else if(params.regionRemoval == CV_SPECKLE_REMOVAL_ALGORITHM)
{
int width = left.cols;
int height = left.rows;
double minVal; double maxVal;
Mat imgDisparity8U2;
imgDisparity8U2.create(height,width,CV_8UC1);
Mat aux;
aux.create(height,width,CV_8UC1);
minMaxLoc(disp, &minVal, &maxVal);
disp.convertTo(imgDisparity8U2, CV_8UC1, 255 / (maxVal - minVal));
Median1x9Filter(imgDisparity8U2, aux);
Median9x1Filter(aux,imgDisparity8U2);
imgDisparity8U2.convertTo(disp, CV_16S);
aux.create(height,width,CV_16S);
Median1x9Filter<short>(disp, aux);
Median9x1Filter<short>(aux,disp);
if( params.speckleWindowSize > 0 )
filterSpeckles(disp, (params.minDisparity - 1) * StereoMatcher::DISP_SCALE, params.speckleWindowSize,
StereoMatcher::DISP_SCALE * params.speckleRange, buffer);
......
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