pColorPacket CAtmoOutputFilter::Filtering(pColorPacket ColorPacket)
{
switch (m_pAtmoConfig->getLiveViewFilterMode())
{
case afmNoFilter:
return ColorPacket;
break;
case afmCombined:
return MeanFilter(ColorPacket, false);
break;
case afmPercent:
return PercentFilter(ColorPacket, false);
break;
}
return ColorPacket;
}
void CAtmoOutputFilter::ResetFilter(void)
{
// reset filter values
MeanFilter(NULL, true);
PercentFilter(NULL, true);
}
int main( int argc, char** argv )
{
printf( "Scale Space Cost Aggregation\n" );
if( argc != 11 ) {
printf( "Usage: [CC_METHOD] [CA_METHOD] [PP_METHOD] [C_ALPHA] [lImg] [rImg] [lDis] [rDis] [maxDis] [disSc]\n" );
printf( "\nPress any key to continue...\n" );
getchar();
return -1;
}
string ccName = argv[ 1 ];
string caName = argv[ 2 ];
string ppName = argv[ 3 ];
double costAlpha = atof( argv[ 4 ] );
string lFn = argv[ 5 ];
string rFn = argv[ 6 ];
string lDisFn = argv[ 7 ];
string rDisFn = argv[ 8 ];
int maxDis = atoi( argv[ 9 ] );
int disSc = atoi( argv[ 10 ] );
//
// Load left right image
//
printf( "\n--------------------------------------------------------\n" );
printf( "Load Image: (%s) (%s)\n", argv[ 5 ], argv[ 6 ] );
printf( "--------------------------------------------------------\n" );
Mat lImg = imread( lFn, CV_LOAD_IMAGE_COLOR );
Mat rImg = imread( rFn, CV_LOAD_IMAGE_COLOR );
if( !lImg.data || !rImg.data ) {
printf( "Error: can not open image\n" );
printf( "\nPress any key to continue...\n" );
getchar();
return -1;
}
// set image format
cvtColor( lImg, lImg, CV_BGR2RGB );
cvtColor( rImg, rImg, CV_BGR2RGB );
lImg.convertTo( lImg, CV_64F, 1 / 255.0f );
rImg.convertTo( rImg, CV_64F, 1 / 255.0f );
// time
double duration;
duration = static_cast<double>(getTickCount());
//
// Stereo Match at each pyramid
//
int PY_LVL = 5;
// build pyramid and cost volume
Mat lP = lImg.clone();
Mat rP = rImg.clone();
SSCA** smPyr = new SSCA*[ PY_LVL ];
CCMethod* ccMtd = getCCType( ccName );
CAMethod* caMtd = getCAType( caName );
PPMethod* ppMtd = getPPType( ppName );
for( int p = 0; p < PY_LVL; p ++ ) {
if( maxDis < 5 ) {
PY_LVL = p;
break;
}
printf( "\n\tPyramid: %d:", p );
smPyr[ p ] = new SSCA( lP, rP, maxDis, disSc );
smPyr[ p ]->CostCompute( ccMtd );
smPyr[ p ]->CostAggre( caMtd );
// pyramid downsample
maxDis = maxDis / 2 + 1;
disSc *= 2;
pyrDown( lP, lP );
pyrDown( rP, rP );
}
printf( "\n--------------------------------------------------------\n" );
printf( "\n Cost Aggregation in Scale Space\n" );
printf( "\n--------------------------------------------------------\n" );
// new method
SolveAll( smPyr, PY_LVL, costAlpha );
// old method
//for( int p = PY_LVL - 2 ; p >= 0; p -- ) {
// smPyr[ p ]->AddPyrCostVol( smPyr[ p + 1 ], costAlpha );
//}
//
// Match + Postprocess
//
smPyr[ 0 ]->Match();
smPyr[ 0 ]->PostProcess( ppMtd );
Mat lDis = smPyr[ 0 ]->getLDis();
Mat rDis = smPyr[ 0 ]->getRDis();
#ifdef _DEBUG
for( int s = 0; s < PY_LVL; s ++ ) {
smPyr[ s ]->Match();
Mat sDis = smPyr[ s ]->getLDis();
ostringstream sStr;
sStr << s;
string sFn = sStr.str( ) + "_ld.png";
imwrite( sFn, sDis );
}
saveOnePixCost( smPyr, PY_LVL );
#endif
#ifdef USE_MEDIAN_FILTER
//
// Median Filter Output
//
MeanFilter( lDis, lDis, 3 );
#endif
duration = static_cast<double>(getTickCount())-duration;
duration /= cv::getTickFrequency(); // the elapsed time in sec
printf( "\n--------------------------------------------------------\n" );
printf( "Total Time: %.2lf s\n", duration );
printf( "--------------------------------------------------------\n" );
//
// Save Output
//
imwrite( lDisFn, lDis );
imwrite( rDisFn, rDis );
delete [] smPyr;
delete ccMtd;
delete caMtd;
delete ppMtd;
return 0;
}