From c8e76fde9abb4f63ca30f30a18c50df59182cb2b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 5 May 2020 11:14:26 +0300
Subject: [PATCH] Add mean reference pixel
---
lib/libstereo/CMakeLists.txt | 2 +
lib/libstereo/include/stereo.hpp | 38 ++++++++++++++-
lib/libstereo/middlebury/main.cpp | 14 ++++++
lib/libstereo/src/algorithms/meancensussgm.cu | 48 +++++++++++++++++++
4 files changed, 101 insertions(+), 1 deletion(-)
create mode 100644 lib/libstereo/src/algorithms/meancensussgm.cu
diff --git a/lib/libstereo/CMakeLists.txt b/lib/libstereo/CMakeLists.txt
index a5fe73958..fba64234b 100644
--- a/lib/libstereo/CMakeLists.txt
+++ b/lib/libstereo/CMakeLists.txt
@@ -43,6 +43,7 @@ if (LIBSTEREO_SHARED)
src/algorithms/tcensussgm.cu
src/algorithms/hcensussgm.cu
src/algorithms/brefcensussgm.cu
+ src/algorithms/meancensussgm.cu
#src/stereo_hier_census.cu
src/stereo_wcensussgm.cu
src/stereo_census_adaptive.cu
@@ -75,6 +76,7 @@ else()
src/algorithms/tcensussgm.cu
src/algorithms/hcensussgm.cu
src/algorithms/brefcensussgm.cu
+ src/algorithms/meancensussgm.cu
#src/stereo_hier_census.cu
src/stereo_wcensussgm.cu
src/stereo_census_adaptive.cu
diff --git a/lib/libstereo/include/stereo.hpp b/lib/libstereo/include/stereo.hpp
index ea40a6386..4c802da27 100644
--- a/lib/libstereo/include/stereo.hpp
+++ b/lib/libstereo/include/stereo.hpp
@@ -86,7 +86,43 @@ private:
};
/**
- * Bilateral filtering for reference pixel. Doesn't make things better
+ * Mean reference pixel. Doesn't work since detail is lost form reference
+ *
+ * @see "A robust local census-based stereo matching insensitive to illumination changes" (2012)
+ * @see "A stereo matching algorithm based on four-moded census and relative confidence plane fitting" (2015)
+ * @see "Stereo matching based on improved census transform" (2018)
+ */
+class StereoMeanCensusSgm {
+public:
+ StereoMeanCensusSgm();
+ ~StereoMeanCensusSgm();
+
+ 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 = 5;
+ unsigned short P2 = 25;
+ float uniqueness = std::numeric_limits<unsigned short>::max();
+ int subpixel = 1; // subpixel interpolation method
+ bool lr_consistency = true;
+ int paths = AggregationDirections::HORIZONTAL |
+ AggregationDirections::VERTICAL |
+ AggregationDirections::DIAGONAL;
+ bool debug = false;
+ };
+ Parameters params;
+
+private:
+ struct Impl;
+ Impl *impl_;
+};
+
+/**
+ * Bilateral filtering for reference pixel. Doesn't make things better, but
+ * still better than mean value for reference.
*/
class StereoBRefCensusSgm {
public:
diff --git a/lib/libstereo/middlebury/main.cpp b/lib/libstereo/middlebury/main.cpp
index 0c627989d..ec40c620e 100644
--- a/lib/libstereo/middlebury/main.cpp
+++ b/lib/libstereo/middlebury/main.cpp
@@ -27,6 +27,19 @@ static void run_censussgm(MiddleburyData &data, cv::Mat &disparity) {
stereo.compute(data.imL, data.imR, disparity);
}
+static void run_meancensussgm(MiddleburyData &data, cv::Mat &disparity) {
+ auto stereo = StereoMeanCensusSgm();
+ stereo.params.P1 = 12;
+ stereo.params.P2 = 32;
+
+ stereo.params.d_min = data.calib.vmin;
+ stereo.params.d_max = data.calib.vmax;
+ stereo.params.subpixel = 1;
+ stereo.params.lr_consistency = true;
+ stereo.params.debug = false;
+ stereo.compute(data.imL, data.imR, disparity);
+}
+
static void run_brefcensussgm(MiddleburyData &data, cv::Mat &disparity) {
auto stereo = StereoBRefCensusSgm();
stereo.params.P1 = 12;
@@ -193,6 +206,7 @@ static const std::map<std::string, std::function<void(MiddleburyData&, cv::Mat&)
{ "hcensussgm", run_hcensussgm },
{ "wcensussgm", run_wcensussgm },
{ "brefcensus", run_brefcensussgm },
+ { "mcensussgm", run_meancensussgm },
//{ "misgm", run_misgm },
{ "varcensus", run_varcensus },
{ "stablesgm", run_stablesgm },
diff --git a/lib/libstereo/src/algorithms/meancensussgm.cu b/lib/libstereo/src/algorithms/meancensussgm.cu
new file mode 100644
index 000000000..e0c1d49d7
--- /dev/null
+++ b/lib/libstereo/src/algorithms/meancensussgm.cu
@@ -0,0 +1,48 @@
+#include "stereo.hpp"
+#include "stereosgm.hpp"
+#include "../costs/census.hpp"
+#include <opencv2/cudafilters.hpp>
+
+struct StereoMeanCensusSgm::Impl : public StereoSgm<CensusMatchingCost, StereoMeanCensusSgm::Parameters> {
+ Array2D<uchar> l;
+ Array2D<uchar> r;
+ Array2D<uchar> ml;
+ Array2D<uchar> mr;
+
+ Impl(StereoMeanCensusSgm::Parameters ¶ms, int width, int height, int dmin, int dmax) :
+ StereoSgm(params, width, height, dmin, dmax), l(width, height), r(width, height),
+ ml(width, height), mr(width, height) {}
+};
+
+StereoMeanCensusSgm::StereoMeanCensusSgm() : impl_(nullptr) {
+ impl_ = new Impl(params, 0, 0, 0, 0);
+}
+
+void StereoMeanCensusSgm::compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disparity) {
+
+ cudaSetDevice(0);
+
+ if (l.rows() != impl_->cost.height() || r.cols() != impl_->cost.width()) {
+ delete impl_; impl_ = nullptr;
+ impl_ = new Impl(params, l.cols(), l.rows(), params.d_min, params.d_max);
+ }
+
+ mat2gray(l, impl_->l);
+ mat2gray(r, impl_->r);
+
+ auto filter = cv::cuda::createBoxFilter(CV_8UC1, CV_8UC1, cv::Size(5,5));
+ filter->apply(impl_->l.toGpuMat(), impl_->ml.toGpuMat()); // E[X]
+ filter->apply(impl_->r.toGpuMat(), impl_->mr.toGpuMat()); // E[X]
+
+ impl_->cost.set(impl_->ml, impl_->mr);
+
+ cudaSafeCall(cudaDeviceSynchronize());
+ impl_->compute(disparity);
+}
+
+StereoMeanCensusSgm::~StereoMeanCensusSgm() {
+ if (impl_) {
+ delete impl_;
+ impl_ = nullptr;
+ }
+}
--
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