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opencv_contrib
Commit 138bd0c9 authored by Leonardo Brás's avatar Leonardo Brás
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Changing filter so it treats every type() of disparity Matrix.

parent 159534a2
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Showing with 40 additions and 20 deletions
modules/ximgproc/src/disparity_filters.cpp
View file @ 138bd0c9
......@@ -122,6 +122,7 @@ protected:
public:
static Ptr<DisparityWLSFilterImpl> create(bool _use_confidence, int l_offs, int r_offs, int t_offs, int b_offs, int min_disp);
void filter(InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right, Rect ROI, InputArray);
void filter_(InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right, Rect ROI);
double getLambda() {return lambda;}
void setLambda(double _lambda) {lambda = _lambda;}
......@@ -218,8 +219,28 @@ Ptr<DisparityWLSFilterImpl> DisparityWLSFilterImpl::create(bool _use_confidence,
void DisparityWLSFilterImpl::filter(InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right, Rect ROI, InputArray)
{
CV_Assert( !disparity_map_left.empty() && (disparity_map_left.depth() == CV_16S) && (disparity_map_left.channels() == 1) );
CV_Assert( !left_view.empty() && (left_view.depth() == CV_8U) && (left_view.channels() == 3 || left_view.channels() == 1) );
Mat left = disparity_map_left.getMat();
if (left.type() == CV_32F){
filter_(disparity_map_left, left_view, filtered_disparity_map, disparity_map_right, ROI);
} else {
Mat left_c, right_c, filt_disp;
left.convertTo(left_c, CV_32F);
if(!disparity_map_right.empty())
disparity_map_right.getMat().convertTo(right_c, CV_32F);
filter_(left_c, left_view, filt_disp, right_c, ROI);
filt_disp.convertTo(filtered_disparity_map, CV_32F);
}
}
void DisparityWLSFilterImpl::filter_(InputArray disparity_map_left, InputArray left_view, OutputArray filtered_disparity_map, InputArray disparity_map_right, Rect ROI)
{
CV_Assert( !disparity_map_left.empty()
&& ( disparity_map_left.depth() == CV_32F)
&& (disparity_map_left.channels() == 1) );
CV_Assert( !left_view.empty()
&& (left_view.depth() == CV_8U)
&& (left_view.channels() == 3 || left_view.channels() == 1) );
Mat disp,src,dst;
if(disparity_map_left.size()!=left_view.size())
resize_factor = disparity_map_left.cols()/(float)left_view.cols();
......@@ -236,17 +257,17 @@ void DisparityWLSFilterImpl::filter(InputArray disparity_map_left, InputArray le
{
Mat disp_full_size = disparity_map_left.getMat();
Mat src_full_size = left_view.getMat();
if(disp_full_size.size!=src_full_size.size)
{
if(disp_full_size.size!=src_full_size.size){
float x_ratio = src_full_size.cols/(float)disp_full_size.cols;
float y_ratio = src_full_size.rows/(float)disp_full_size.rows;
resize(disp_full_size,disp_full_size,src_full_size.size());
disp_full_size = disp_full_size*x_ratio;
ROI = Rect((int)(valid_disp_ROI.x*x_ratio), (int)(valid_disp_ROI.y*y_ratio),
(int)(valid_disp_ROI.width*x_ratio),(int)(valid_disp_ROI.height*y_ratio));
}
else
} else {
ROI = valid_disp_ROI;
}
disp = Mat(disp_full_size,ROI);
src = Mat(src_full_size ,ROI);
filtered_disparity_map.create(disp_full_size.size(), disp_full_size.type());
......@@ -259,14 +280,15 @@ void DisparityWLSFilterImpl::filter(InputArray disparity_map_left, InputArray le
}
else
{
CV_Assert( !disparity_map_right.empty() && (disparity_map_right.depth() == CV_16S) && (disparity_map_right.channels() == 1) );
CV_Assert( !disparity_map_right.empty()
&& (disparity_map_right.depth() == CV_32F)
&& (disparity_map_right.channels() == 1) );
CV_Assert( (disparity_map_left.cols() == disparity_map_right.cols()) );
CV_Assert( (disparity_map_left.rows() == disparity_map_right.rows()) );
computeConfidenceMap(disparity_map_left,disparity_map_right);
Mat disp_full_size = disparity_map_left.getMat();
Mat src_full_size = left_view.getMat();
if(disp_full_size.size!=src_full_size.size)
{
if(disp_full_size.size!=src_full_size.size){
float x_ratio = src_full_size.cols/(float)disp_full_size.cols;
float y_ratio = src_full_size.rows/(float)disp_full_size.rows;
resize(disp_full_size,disp_full_size,src_full_size.size());
......@@ -274,9 +296,9 @@ void DisparityWLSFilterImpl::filter(InputArray disparity_map_left, InputArray le
resize(confidence_map,confidence_map,src_full_size.size());
ROI = Rect((int)(valid_disp_ROI.x*x_ratio), (int)(valid_disp_ROI.y*y_ratio),
(int)(valid_disp_ROI.width*x_ratio),(int)(valid_disp_ROI.height*y_ratio));
}
else
} else {
ROI = valid_disp_ROI;
}
disp = Mat(disp_full_size,ROI);
src = Mat(src_full_size ,ROI);
filtered_disparity_map.create(disp_full_size.size(), disp_full_size.type());
......@@ -286,14 +308,12 @@ void DisparityWLSFilterImpl::filter(InputArray disparity_map_left, InputArray le
Mat conf(confidence_map,ROI);
Mat disp_mul_conf;
disp.convertTo(disp_mul_conf,CV_32F);
disp_mul_conf = conf.mul(disp_mul_conf);
disp_mul_conf = conf.mul(disp);
Mat conf_filtered;
Ptr<FastGlobalSmootherFilter> wls = createFastGlobalSmootherFilter(src,lambda,sigma_color);
wls->filter(disp_mul_conf,disp_mul_conf);
wls->filter(conf,conf_filtered);
disp_mul_conf = disp_mul_conf.mul(1/(conf_filtered+EPS));
disp_mul_conf.convertTo(dst,CV_16S);
dst = disp_mul_conf.mul(1/(conf_filtered+EPS));
}
}
......@@ -305,9 +325,9 @@ wls(&_wls),left_disp(&_left_disp),right_disp(&_right_disp),left_disc(&_left_disc
void DisparityWLSFilterImpl::ComputeDiscontinuityAwareLRC_ParBody::operator() (const Range& range) const
{
short* row_left;
float* row_left;
float* row_left_conf;
short* row_right;
float* row_right;
float* row_right_conf;
float* row_dst;
int right_idx;
......@@ -318,9 +338,9 @@ void DisparityWLSFilterImpl::ComputeDiscontinuityAwareLRC_ParBody::operator() (c
int thresh = (int)(wls->resize_factor*wls->LRC_thresh);
for(int i=start;i<end;i++)
{
row_left = (short*)left_disp->ptr(i);
row_left = (float*)left_disp->ptr(i);
row_left_conf = (float*)left_disc->ptr(i);
row_right = (short*)right_disp->ptr(i);
row_right = (float*)right_disp->ptr(i);
row_right_conf = (float*)right_disc->ptr(i);
row_dst = (float*)dst->ptr(i);
int j_start = left_ROI.x;
......@@ -328,7 +348,7 @@ void DisparityWLSFilterImpl::ComputeDiscontinuityAwareLRC_ParBody::operator() (c
int right_end = right_ROI.x+right_ROI.width;
for(int j=j_start;j<j_end;j++)
{
right_idx = j-(row_left[j]>>4);
right_idx = j-((int)row_left[j]);
if( right_idx>=right_ROI.x && right_idx<right_end)
{
if(abs(row_left[j] + row_right[right_idx])< thresh)
......
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