From a2aa192e65c82e3e60b7a075e760c9114217a6cb Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 6 May 2020 12:52:25 +0300
Subject: [PATCH] Add mini census window for hcensus
---
lib/libstereo/middlebury/algorithms.hpp | 4 +-
lib/libstereo/src/algorithms/hcensussgm.cu | 8 ++--
lib/libstereo/src/costs/census.cu | 45 ++++++++++++++++++++++
lib/libstereo/src/costs/census.hpp | 27 +++++++++++++
4 files changed, 78 insertions(+), 6 deletions(-)
diff --git a/lib/libstereo/middlebury/algorithms.hpp b/lib/libstereo/middlebury/algorithms.hpp
index b5bbca407..b89f798a9 100644
--- a/lib/libstereo/middlebury/algorithms.hpp
+++ b/lib/libstereo/middlebury/algorithms.hpp
@@ -120,7 +120,7 @@ namespace Impl {
};
struct HCensusSGM : public Algorithm {
- HCensusSGM() { P1 = 36.0f; P2 = 96.0f; }
+ HCensusSGM() { P1 = 6.0f; P2 = 60.0f; }
virtual void run(const MiddleburyData &data, cv::Mat &disparity) override {
StereoHierCensusSgm stereo;
@@ -128,7 +128,7 @@ namespace Impl {
stereo.params.P2 = P2;
stereo.params.subpixel = subpixel;
stereo.params.lr_consistency = lr_consistency;
-
+ stereo.params.var_window = 5;
stereo.params.d_min = data.calib.vmin;
stereo.params.d_max = data.calib.vmax;
stereo.params.debug = false;
diff --git a/lib/libstereo/src/algorithms/hcensussgm.cu b/lib/libstereo/src/algorithms/hcensussgm.cu
index 2a7c7586c..751147678 100644
--- a/lib/libstereo/src/algorithms/hcensussgm.cu
+++ b/lib/libstereo/src/algorithms/hcensussgm.cu
@@ -6,7 +6,7 @@
#include <opencv2/cudafilters.hpp>
#include <opencv2/highgui.hpp>
-typedef MultiCostsWeighted<CensusMatchingCost,3> MatchingCost;
+typedef MultiCostsWeighted<MiniCensusMatchingCost,3> MatchingCost;
static void variance_mask(cv::InputArray in, cv::OutputArray out, int wsize=3) {
if (in.isGpuMat() && out.isGpuMat()) {
@@ -40,9 +40,9 @@ static void variance_mask(cv::InputArray in, cv::OutputArray out, int wsize=3) {
}
struct StereoHierCensusSgm::Impl : public StereoSgm<MatchingCost, StereoHierCensusSgm::Parameters> {
- CensusMatchingCost cost_fine;
- CensusMatchingCost cost_medium;
- CensusMatchingCost cost_coarse;
+ MiniCensusMatchingCost cost_fine;
+ MiniCensusMatchingCost cost_medium;
+ MiniCensusMatchingCost cost_coarse;
Array2D<uchar> l;
Array2D<uchar> r;
Array2D<float> var_fine;
diff --git a/lib/libstereo/src/costs/census.cu b/lib/libstereo/src/costs/census.cu
index 60cdfbaff..6c499c618 100644
--- a/lib/libstereo/src/costs/census.cu
+++ b/lib/libstereo/src/costs/census.cu
@@ -224,6 +224,51 @@ void CensusMatchingCost::set(cv::InputArray l, cv::InputArray r) {
////////////////////////////////////////////////////////////////////////////////
+void MiniCensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r) {
+ if (pattern_ == CensusPattern::STANDARD) {
+ parallel2D<algorithms::CensusTransformRowMajor<5,3>>({l.data(), ct_l_.data()}, l.width, l.height);
+ parallel2D<algorithms::CensusTransformRowMajor<5,3>>({r.data(), ct_r_.data()}, r.width, r.height);
+ } else if (pattern_ == CensusPattern::GENERALISED) {
+ parallel2D<algorithms::GCensusTransformRowMajor<5,3>>({l.data(), ct_l_.data()}, l.width, l.height);
+ parallel2D<algorithms::GCensusTransformRowMajor<5,3>>({r.data(), ct_r_.data()}, r.width, r.height);
+ } else {
+ // TODO:
+ }
+}
+
+void MiniCensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r, const Array2D<uchar> &hl, const Array2D<uchar> &hr) {
+ if (pattern_ == CensusPattern::STANDARD) {
+ parallel2D<algorithms::HCensusTransformRowMajor<5,3>>({l.data(), hl.data(), ct_l_.data(), {ushort(hl.width), ushort(hl.height)}}, l.width, l.height);
+ parallel2D<algorithms::HCensusTransformRowMajor<5,3>>({r.data(), hr.data(), ct_r_.data(), {ushort(hr.width), ushort(hr.height)}}, r.width, r.height);
+ } else if (pattern_ == CensusPattern::GENERALISED) {
+ parallel2D<algorithms::HGCensusTransformRowMajor<5,3>>({l.data(), hl.data(), ct_l_.data(), {ushort(hl.width), ushort(hl.height)}}, l.width, l.height);
+ parallel2D<algorithms::HGCensusTransformRowMajor<5,3>>({r.data(), hr.data(), ct_r_.data(), {ushort(hr.width), ushort(hr.height)}}, r.width, r.height);
+ }
+}
+
+void MiniCensusMatchingCost::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();
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
void WeightedCensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r) {
parallel2D<algorithms::CensusTransformRowMajor<11,11>>({l.data(), ct_l_.data()}, l.width, l.height);
parallel2D<algorithms::CensusTransformRowMajor<11,11>>({r.data(), ct_r_.data()}, r.width, r.height);
diff --git a/lib/libstereo/src/costs/census.hpp b/lib/libstereo/src/costs/census.hpp
index 2b8119231..3b05156a4 100644
--- a/lib/libstereo/src/costs/census.hpp
+++ b/lib/libstereo/src/costs/census.hpp
@@ -176,6 +176,33 @@ protected:
CensusPattern pattern_ = CensusPattern::STANDARD;
};
+class MiniCensusMatchingCost : public DSBase<impl::CensusMatchingCost<5,3,1>> {
+public:
+ typedef impl::CensusMatchingCost<5,3,1> DataType;
+ typedef unsigned short Type;
+
+ MiniCensusMatchingCost() : DSBase<DataType>(0, 0, 0, 0) {};
+ MiniCensusMatchingCost(int width, int height, int disp_min, int disp_max)
+ : DSBase<DataType>(width, height, disp_min, disp_max),
+ ct_l_(width*data().WSTEP, height), ct_r_(width*data().WSTEP,height)
+ {
+ data().l = ct_l_.data();
+ data().r = ct_r_.data();
+ }
+
+ inline void setPattern(CensusPattern p) { pattern_ = p; }
+
+ void set(cv::InputArray l, cv::InputArray r);
+ void set(const Array2D<uchar>& l, const Array2D<uchar>& r);
+ void set(const Array2D<uchar> &l, const Array2D<uchar> &r, const Array2D<uchar> &hl, const Array2D<uchar> &hr);
+ static constexpr Type COST_MAX = DataType::COST_MAX;
+
+protected:
+ Array2D<uint64_t> ct_l_;
+ Array2D<uint64_t> ct_r_;
+ CensusPattern pattern_ = CensusPattern::STANDARD;
+};
+
class WeightedCensusMatchingCost : public DSBase<impl::WeightedCensusMatchingCost<11, 5>> {
public:
typedef impl::WeightedCensusMatchingCost<11, 5> DataType;
--
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