From acbecd13e197da3f29d8a59ad5317830a23c60c5 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 25 Mar 2019 11:20:58 +0200
Subject: [PATCH] Fix sgbm to new structure and make rtcensus back to original
implementation
---
cv-node/src/algorithms/opencv_sgbm.cpp | 11 +++++----
cv-node/src/algorithms/rtcensus.cu | 10 ++++----
cv-node/src/main.cpp | 32 ++++++++++++++++++++++----
3 files changed, 40 insertions(+), 13 deletions(-)
diff --git a/cv-node/src/algorithms/opencv_sgbm.cpp b/cv-node/src/algorithms/opencv_sgbm.cpp
index 3e003bdb1..fda8ff13e 100644
--- a/cv-node/src/algorithms/opencv_sgbm.cpp
+++ b/cv-node/src/algorithms/opencv_sgbm.cpp
@@ -25,14 +25,17 @@ OpenCVSGBM::OpenCVSGBM(nlohmann::json &config) : Disparity(config) {
}
void OpenCVSGBM::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
+ Mat lbw, rbw;
Mat left_disp;
Mat right_disp;
- left_matcher_-> compute(l, r,left_disp);
- right_matcher_->compute(r,l, right_disp);
+ cv::cvtColor(l, lbw, COLOR_BGR2GRAY);
+ cv::cvtColor(r, rbw, COLOR_BGR2GRAY);
+ left_matcher_-> compute(lbw, rbw,left_disp);
+ right_matcher_->compute(rbw,lbw, right_disp);
wls_filter_->filter(left_disp,l,disp,right_disp);
- //float f = 255.0f / static_cast<float>(max_disp_);
- //disp *= f;
+ // WHY 12!!!!!!
+ disp.convertTo(disp, CV_32F, 12.0 / max_disp_);
}
diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index e722dbac7..0fc818088 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/cv-node/src/algorithms/rtcensus.cu
@@ -331,7 +331,7 @@ void rtcensus_call(const PtrStepSz<uchar4> &l, const PtrStepSz<uchar4> &r, const
ftl::cuda::TextureObject<uint2> censusTexRight(r.cols, r.rows);
ftl::cuda::TextureObject<float> dispTexLeft(l.cols, l.rows);
ftl::cuda::TextureObject<float> dispTexRight(r.cols, r.rows);
- ftl::cuda::TextureObject<float> dispTex(r.cols, r.rows);
+ ftl::cuda::TextureObject<float> dispTex(disp); //r.cols, r.rows);
// Calculate the census for left and right
ftl::cuda::sparse_census(texLeft, texRight, censusTexLeft, censusTexRight);
@@ -355,15 +355,15 @@ void rtcensus_call(const PtrStepSz<uchar4> &l, const PtrStepSz<uchar4> &r, const
- grid.x = 4;
+ /*grid.x = 4;
grid.y = l.rows;
threads.x = l.cols;
size_t filter_smem = sizeof(uchar4) * l.cols;
filter_kernel<<<grid, threads, filter_smem>>>(texLeft.cudaTexture(), dispTex.cudaTexture(), prevDisp.cudaTexture(), prevImage.cudaTexture(), disp, num_disp);
- cudaSafeCall( cudaGetLastError() );
+ cudaSafeCall( cudaGetLastError() );*/
- prevDisp.free();
- prevDisp = disp;
+ //prevDisp.free();
+ //prevDisp = disp;
prevImage.free();
prevImage = texLeft;
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index e0dbaa00b..9e3689bdb 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -86,6 +86,29 @@ static void process_options(const map<string,string> &opts) {
}
}
+static string type2str(int type) {
+ string r;
+
+ uchar depth = type & CV_MAT_DEPTH_MASK;
+ uchar chans = 1 + (type >> CV_CN_SHIFT);
+
+ switch ( depth ) {
+ case CV_8U: r = "8U"; break;
+ case CV_8S: r = "8S"; break;
+ case CV_16U: r = "16U"; break;
+ case CV_16S: r = "16S"; break;
+ case CV_32S: r = "32S"; break;
+ case CV_32F: r = "32F"; break;
+ case CV_64F: r = "64F"; break;
+ default: r = "User"; break;
+ }
+
+ r += "C";
+ r += (chans+'0');
+
+ return r;
+}
+
static void run(const string &file) {
// TODO Initiate the network
@@ -136,8 +159,7 @@ static void run(const string &file) {
// TODO Check other algorithms convert to BW
disparity->compute(l,r,disparity32F);
- disparity32F.convertTo(disparity32F, CV_32F);
- disparity32F += 10.0f; // TODO REMOVE
+ //disparity32F += 10.0f; // TODO REMOVE
// Clip the left edge
//Rect rect((int)config["disparity"]["maximum"],7,disparity32F.cols-(int)config["disparity"]["maximum"],disparity32F.rows-14);
@@ -180,8 +202,10 @@ static void run(const string &file) {
break;
}
} else if (config["display"]["disparity"]) {
- disparity32F = disparity32F / (float)config["disparity"]["maximum"];
- disparity32F.convertTo(disparity32F,CV_8U,255.0f);
+ //if (disparity32F.type() == CV_32FC1) {
+ //disparity32F = disparity32F / (float)config["disparity"]["maximum"];
+ disparity32F.convertTo(disparity32F,CV_8U,255.0f / (float)config["disparity"]["maximum"]);
+ //}
//normalize(disparity32F, disparity32F, 0, 255, NORM_MINMAX, CV_8U);
applyColorMap(disparity32F, disparity32F, cv::COLORMAP_JET);
cv::imshow("Disparity", disparity32F);
--
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