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modify sample by adding the checks in the parse function

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some extra conditions added to the sample

changed scale

fixed some issues regarding the matching and the sample

modified expression for hamming lut

condition in confidence check

changed the name : bm to sgm for sample
pull/326/head
Muresan Mircea Paul 10 years ago
parent e7ab49ebb3
commit c83e49a714
2 changed files with 68 additions and 54 deletions
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  1. 113
      modules/stereo/samples/sample.cpp
  2. 9
      modules/stereo/src/matching.hpp

113
modules/stereo/samples/sample.cpp
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@ -11,7 +11,7 @@ using namespace cv::stereo;
enum { STEREO_BINARY_BM, STEREO_BINARY_SGM };
static cv::CommandLineParser parse_argument_values(int argc, char **argv, string &left, string &right, int &kernel_size, int &number_of_disparities,
int &aggregation_window, int &P1, int &P2, float &scale, int &algo, int &binary_descriptor_type);
int &aggregation_window, int &P1, int &P2, float &scale, int &algo, int &binary_descriptor_type, int &success);
int main(int argc, char** argv)
{
string left, right;
@ -19,6 +19,7 @@ int main(int argc, char** argv)
float scale = 4;
int algo = STEREO_BINARY_BM;
int binary_descriptor_type = 0;
int success;
// here we extract the values that were added as arguments
// we also test to see if they are provided correcly
cv::CommandLineParser parser =
@ -28,50 +29,12 @@ int main(int argc, char** argv)
aggregation_window,
P1, P2,
scale,
algo, binary_descriptor_type);
if (!parser.check())
algo, binary_descriptor_type,success);
if (!parser.check() || !success)
{
parser.printMessage();
return 1;
}
int fail = 0;
//TEST if the provided parameters are correct
if(binary_descriptor_type == CV_DENSE_CENSUS && kernel_size > 5)
{
cout << "For the dense census transform the maximum kernel size should be 5\n";
fail = 1;
}
if((binary_descriptor_type == CV_MEAN_VARIATION || binary_descriptor_type == CV_MODIFIED_CENSUS_TRANSFORM || binary_descriptor_type == CV_STAR_KERNEL) && kernel_size != 9)
{
cout <<" For Mean variation and the modified census transform the kernel size should be equal to 9\n";
fail = 1;
}
if((binary_descriptor_type == CV_CS_CENSUS || binary_descriptor_type == CV_MODIFIED_CS_CENSUS) && kernel_size > 7)
{
cout << " The kernel size should be smaller or equal to 7 for the CS census and modified center symetric census\n";
fail = 1;
}
if(binary_descriptor_type == CV_SPARSE_CENSUS && kernel_size > 11)
{
cout << "The kernel size for the sparse census must be smaller or equal to 11\n";
fail = 1;
}
if(number_of_disparities < 10)
{
cout << "Number of disparities should be greater than 10\n";
fail = 1;
}
if(P2 / P1 < 2)
{
cout << "You should probabilly choose a greater P2 penalty\n";
fail = 1;
}
if(fail == 1)
{
return 1;
}
// verify if the user inputs the correct number of parameters
Mat image1, image2;
// we read a pair of images from the disk
@ -85,7 +48,6 @@ int main(int argc, char** argv)
parser.printMessage();
return 1;
}
// we display the parsed parameters
const char *b[7] = { "CV_DENSE_CENSUS", "CV_SPARSE_CENSUS", "CV_CS_CENSUS", "CV_MODIFIED_CS_CENSUS",
"CV_MODIFIED_CENSUS_TRANSFORM", "CV_MEAN_VARIATION", "CV_STAR_KERNEL" };
@ -151,21 +113,20 @@ int main(int argc, char** argv)
return 0;
}
static cv::CommandLineParser parse_argument_values(int argc, char **argv, string &left, string &right, int &kernel_size, int &number_of_disparities,
int &aggregation_window, int &P1, int &P2, float &scale, int &algo, int &binary_descriptor_type)
int &aggregation_window, int &P1, int &P2, float &scale, int &algo, int &binary_descriptor_type, int &success)
{
static const char* keys =
"{ @left | | }"
"{ @right | | }"
"{ k kernel_size | 9 | }"
"{ d disparity | 128 | }"
"{ w aggregation_window | 9 | }"
"{ P1 | 100 | }"
"{ P2 | 1000 | }"
"{ b binary_descriptor | 4 | Index of the descriptor type:\n 0 - CV_DENSE_CENSUS,\n 1 - CV_SPARSE_CENSUS,\n 2 - CV_CS_CENSUS,\n 3 - CV_MODIFIED_CS_CENSUS,\n 4 - CV_MODIFIED_CENSUS_TRANSFORM,\n 5 - CV_MEAN_VARIATION,\n 6 - CV_STAR_KERNEL}"
"{ s scale | 1.01593 | }"
"{ k kernel_size | 9 | }"
"{ d disparity | 128 | }"
"{ w aggregation_window | 9 | }"
"{ P1 | 100 | }"
"{ P2 | 1000 | }"
"{ b binary_descriptor | 4 | Index of the descriptor type:\n 0 - CV_DENSE_CENSUS,\n 1 - CV_SPARSE_CENSUS,\n 2 - CV_CS_CENSUS,\n 3 - CV_MODIFIED_CS_CENSUS,\n 4 - CV_MODIFIED_CENSUS_TRANSFORM,\n 5 - CV_MEAN_VARIATION,\n 6 - CV_STAR_KERNEL}"
"{ s scale | 1.01593 | }"
"{ a algorithm | sgm | }"
;
cv::CommandLineParser parser( argc, argv, keys );
left = parser.get<string>(0);
@ -181,5 +142,55 @@ static cv::CommandLineParser parse_argument_values(int argc, char **argv, string
parser.about("\nDemo stereo matching converting L and R images into disparity images using BM and SGBM\n");
success = 1;
//TEST if the provided parameters are correct
if(binary_descriptor_type == CV_DENSE_CENSUS && kernel_size > 5)
{
cout << "For the dense census transform the maximum kernel size should be 5\n";
success = 0;
}
if((binary_descriptor_type == CV_MEAN_VARIATION || binary_descriptor_type == CV_MODIFIED_CENSUS_TRANSFORM || binary_descriptor_type == CV_STAR_KERNEL) && kernel_size != 9)
{
cout <<" For Mean variation and the modified census transform the kernel size should be equal to 9\n";
success = 0;
}
if((binary_descriptor_type == CV_CS_CENSUS || binary_descriptor_type == CV_MODIFIED_CS_CENSUS) && kernel_size > 7)
{
cout << " The kernel size should be smaller or equal to 7 for the CS census and modified center symetric census\n";
success = 0;
}
if(binary_descriptor_type == CV_SPARSE_CENSUS && kernel_size > 11)
{
cout << "The kernel size for the sparse census must be smaller or equal to 11\n";
success = 0;
}
if(number_of_disparities < 10)
{
cout << "Number of disparities should be greater than 10\n";
success = 0;
}
if(aggregation_window < 3)
{
cout << "Aggregation window should be > 3";
success = 0;
}
if(scale < 1)
{
cout << "The scale should be a positive number \n";
success = 0;
}
if(P1 != 0)
{
if(P2 / P1 < 2)
{
cout << "You should probably choose a greater P2 penalty\n";
success = 0;
}
}
else
{
cout << " Penalties should be greater than 0\n";
success = 0;
}
return parser;
}

9
modules/stereo/src/matching.hpp
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@ -95,8 +95,11 @@ namespace cv
mini3 = c[(iw + i * search_region) * widthDisp2 + i];
}
}
if (mini3 / mini <= confidence)
return index;
if(mini != 0)
{
if (mini3 / mini <= confidence)
return index;
}
return -1;
}
//!Interpolate in order to obtain better results
@ -171,7 +174,7 @@ namespace cv
#if CV_SSE4_1
c[(iwj)* (v + 1) + d] = (short)_mm_popcnt_u32(xorul);
#else
c[(iwj)* (v + 1) + d] = (short)(hammLut[xorul & MASK] + hammLut[xorul >> 16]);
c[(iwj)* (v + 1) + d] = (short)(hammLut[xorul & MASK] + hammLut[(xorul >> 16) & MASK]);
#endif
}
}

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