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/*
Copyright 2016 Fixstars Corporation
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http ://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include <stdlib.h>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/version.hpp>
#include <libsgm.h>
#define ASSERT_MSG(expr, msg) \
if (!(expr)) { \
std::cerr << msg << std::endl; \
std::exit(EXIT_FAILURE); \
} \
int main(int argc, char* argv[]) {
if (argc < 3) {
std::cerr << "usage: stereosgm left_img right_img [disp_size]" << std::endl;
std::exit(EXIT_FAILURE);
}
cv::Mat left = cv::imread(argv[1], -1);
cv::Mat right = cv::imread(argv[2], -1);
int disp_size = 64;
if (argc >= 4) {
disp_size = atoi(argv[3]);
}
ASSERT_MSG(left.size() == right.size() && left.type() == right.type(), "input images must be same size and type.");
//ASSERT_MSG(left.type() == CV_8U || left.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
ASSERT_MSG(disp_size == 64 || disp_size == 128 || disp_size == 256, "disparity size must be 64, 128 or 256.");
cv::resize(left, left, cv::Size(left.cols/2, left.rows/2));
cv::resize(right, right, cv::Size(right.cols/2, right.rows/2));
cv::cvtColor(left, left, cv::COLOR_BGR2GRAY);
cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
int bits = 0;
switch (left.type()) {
case CV_8UC1: bits = 8; break;
case CV_16UC1: bits = 16; break;
default:
std::cerr << "invalid input image color format" << left.type() << std::endl;
std::exit(EXIT_FAILURE);
}
sgm::StereoSGM ssgm(left.cols, left.rows, disp_size, bits, 8, sgm::EXECUTE_INOUT_HOST2HOST);
cv::Mat output(cv::Size(left.cols, left.rows), CV_8UC1);
ssgm.execute(left.data, right.data, output.data);
// show image
cv::imshow("image", output * 256 / disp_size);
int key = cv::waitKey();
int mode = 0;
while (key != 27) {
if (key == 's') {
mode += 1;
if (mode >= 3) mode = 0;
switch (mode) {
case 0:
{
cv::setWindowTitle("image", "disparity");
cv::imshow("image", output * 256 / disp_size);
break;
}
case 1:
{
cv::Mat m;
cv::applyColorMap(output * 256 / disp_size, m, cv::COLORMAP_JET);
cv::setWindowTitle("image", "disparity color");
cv::imshow("image", m);
break;
}
case 2:
{
cv::setWindowTitle("image", "input");
cv::imshow("image", left);
break;
}
}
}
key = cv::waitKey();
}
return 0;
}