From 4c0de255bd20aea618823986fb50fcf5bcb2c43f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 17 Apr 2020 13:57:47 +0300
Subject: [PATCH] input parameters for census and mi costs
---
lib/libstereo/include/stereo.hpp | 32 ++++++++++++++++++++++++-
lib/libstereo/src/costs/census.cu | 21 ++++++++++++++++
lib/libstereo/src/costs/census.hpp | 9 +++----
lib/libstereo/src/stereo_adcensussgm.cu | 2 +-
lib/libstereo/src/stereo_censussgm.cu | 3 +--
lib/libstereo/src/stereo_misgm.cu | 13 ++++++++--
6 files changed, 70 insertions(+), 10 deletions(-)
diff --git a/lib/libstereo/include/stereo.hpp b/lib/libstereo/include/stereo.hpp
index bd7b38910..48d58f9a0 100644
--- a/lib/libstereo/include/stereo.hpp
+++ b/lib/libstereo/include/stereo.hpp
@@ -87,7 +87,7 @@ public:
~StereoMiSgm();
void compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disparity);
- void setPrior(const cv::Mat &disp);
+ void setPrior(cv::InputArray disp);
struct Parameters {
int d_min = 0;
@@ -109,6 +109,36 @@ private:
};
+class StereoMiSgm2 {
+public:
+ StereoMiSgm2();
+ ~StereoMiSgm2();
+
+ void compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disparity);
+ void setPrior(cv::InputArray disp);
+
+ struct Parameters {
+ int d_min = 0;
+ int d_max = 0;
+ unsigned short P1 = 2;
+ unsigned short P2 = 8;
+ float uniqueness = std::numeric_limits<short>::max();
+ int subpixel = 1; // subpixel interpolation method
+ int paths = AggregationDirections::HORIZONTAL |
+ AggregationDirections::VERTICAL |
+ AggregationDirections::DIAGONAL;
+ bool debug = false;
+ float w1 = 1.0;
+ float w2 = 1.0;
+ };
+ Parameters params;
+
+private:
+ struct Impl;
+ Impl *impl_;
+};
+
+
/**
* Census + SGM + prior
*
diff --git a/lib/libstereo/src/costs/census.cu b/lib/libstereo/src/costs/census.cu
index 05d61c3b7..3930e7333 100644
--- a/lib/libstereo/src/costs/census.cu
+++ b/lib/libstereo/src/costs/census.cu
@@ -46,3 +46,24 @@ void CensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r) {
parallel2D<algorithms::CensusTransform<9,7>>({l.data(), ct_l_.data()}, l.width, l.height);
parallel2D<algorithms::CensusTransform<9,7>>({r.data(), ct_r_.data()}, r.width, r.height);
}
+
+void CensusMatchingCost::set(cv::InputArray l, cv::InputArray r) {
+ if (l.type() != CV_8UC1 || r.type() != CV_8UC1) { throw std::exception(); }
+ if (l.rows() != r.rows() || l.cols() != r.cols() || l.rows() != height() || l.cols() != width()) {
+ throw std::exception();
+ }
+
+ if (l.isGpuMat() && r.isGpuMat()) {
+ auto ml = l.getGpuMat();
+ auto mr = r.getGpuMat();
+ set(Array2D<uchar>(ml), Array2D<uchar>(mr));
+ }
+ else if (l.isMat() && r.isMat()) {
+ auto ml = l.getMat();
+ auto mr = r.getMat();
+ set(Array2D<uchar>(ml), Array2D<uchar>(mr));
+ }
+ else {
+ throw std::exception();
+ }
+}
diff --git a/lib/libstereo/src/costs/census.hpp b/lib/libstereo/src/costs/census.hpp
index bc20efd31..c8467b491 100644
--- a/lib/libstereo/src/costs/census.hpp
+++ b/lib/libstereo/src/costs/census.hpp
@@ -39,17 +39,17 @@ public:
typedef unsigned short Type;
CensusMatchingCost() : DSBase<DataType>(0, 0, 0, 0) {};
- CensusMatchingCost(int width, int height, int disp_min, int disp_max, int wwidth, int wheight)
+ CensusMatchingCost(int width, int height, int disp_min, int disp_max)
: DSBase<DataType>(width, height, disp_min, disp_max),
ct_l_(width, height), ct_r_(width,height),
//cost_max(wwidth * wheight),
- ww_(wwidth), wh_(wheight)
+ ww_(9), wh_(7)
{
- if (wwidth != 9 || wheight != 7) {
+ if (ww_ != 9 || wh_ != 7) {
// TODO: window size paramters (hardcoded) in matching_cost.cpp
throw std::exception();
}
- if (wwidth*wheight > 64) {
+ if (ww_*wh_ > 64) {
throw std::exception(); // todo: dynamic size
}
@@ -57,6 +57,7 @@ public:
data().ct_r = ct_r_.data();
}
+ void set(cv::InputArray l, cv::InputArray r);
void set(const Array2D<uchar>& l, const Array2D<uchar>& r);
static constexpr short COST_MAX = 9*7; // TODO: window size paramters (hardcoded) in matching_cost.cpp
diff --git a/lib/libstereo/src/stereo_adcensussgm.cu b/lib/libstereo/src/stereo_adcensussgm.cu
index 9cd9838cf..3baecec53 100644
--- a/lib/libstereo/src/stereo_adcensussgm.cu
+++ b/lib/libstereo/src/stereo_adcensussgm.cu
@@ -69,7 +69,7 @@ struct StereoADCensusSgm::Impl {
Impl(int width, int height, int min_disp, int max_disp) :
dsi(width, height, min_disp, max_disp),
ad_cost(width, height, min_disp, max_disp),
- census_cost(width, height, min_disp, max_disp, 9, 7),
+ census_cost(width, height, min_disp, max_disp),
cost(width, height, min_disp, max_disp, ad_cost, census_cost),
cost_min(width, height),
cost_min_paths(width, height),
diff --git a/lib/libstereo/src/stereo_censussgm.cu b/lib/libstereo/src/stereo_censussgm.cu
index 7cb8f635e..f3969a5f3 100644
--- a/lib/libstereo/src/stereo_censussgm.cu
+++ b/lib/libstereo/src/stereo_censussgm.cu
@@ -63,8 +63,7 @@ struct StereoCensusSgm::Impl {
WinnerTakesAll<DSImage16U,float> wta;
Impl(int width, int height, int min_disp, int max_disp) :
- //dsi(width, height, min_disp, max_disp),
- cost(width, height, min_disp, max_disp, ct_windows_w, ct_windows_h),
+ cost(width, height, min_disp, max_disp),
cost_min(width, height),
cost_min_paths(width, height),
uncertainty(width, height),
diff --git a/lib/libstereo/src/stereo_misgm.cu b/lib/libstereo/src/stereo_misgm.cu
index aebc09a65..6c54cce0c 100644
--- a/lib/libstereo/src/stereo_misgm.cu
+++ b/lib/libstereo/src/stereo_misgm.cu
@@ -47,6 +47,7 @@ using ftl::stereo::aggregations::StandardSGM;
struct StereoMiSgm::Impl {
MutualInformationMatchingCost cost;
+
Array2D<unsigned short> cost_min;
Array2D<unsigned short> cost_min_paths;
Array2D<unsigned short> uncertainty;
@@ -74,8 +75,16 @@ StereoMiSgm::StereoMiSgm() : impl_(nullptr) {
impl_ = new Impl(0, 0, 0, 0);
}
-void StereoMiSgm::setPrior(const cv::Mat &prior) {
- prior.copyTo(impl_->prior);
+void StereoMiSgm::setPrior(cv::InputArray prior) {
+ if (prior.rows() != impl_->cost.height() || prior.cols() != impl_->cost.width()) {
+ return;
+ }
+ if (prior.isGpuMat()) {
+ prior.getGpuMat().download(impl_->prior);
+ }
+ else {
+ prior.getMat().copyTo(impl_->prior);
+ }
}
--
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