void SGMStereo::computeLeftCostImage(const unsigned char* leftGrayscaleImage, const unsigned char* rightGrayscaleImage) {
unsigned char* leftSobelImage = reinterpret_cast<unsigned char*>(_mm_malloc(widthStep_*height_*sizeof(unsigned char), 16));
unsigned char* rightSobelImage = reinterpret_cast<unsigned char*>(_mm_malloc(widthStep_*height_*sizeof(unsigned char), 16));
computeCappedSobelImage(leftGrayscaleImage, false, leftSobelImage);
computeCappedSobelImage(rightGrayscaleImage, true, rightSobelImage);
int* leftCensusImage = reinterpret_cast<int*>(malloc(width_*height_*sizeof(int)));
int* rightCensusImage = reinterpret_cast<int*>(malloc(width_*height_*sizeof(int)));
computeCensusImage(leftGrayscaleImage, leftCensusImage);
computeCensusImage(rightGrayscaleImage, rightCensusImage);
unsigned char* leftSobelRow = leftSobelImage;
unsigned char* rightSobelRow = rightSobelImage;
int* leftCensusRow = leftCensusImage;
int* rightCensusRow = rightCensusImage;
unsigned short* costImageRow = leftCostImage_;
calcTopRowCost(leftSobelRow, leftCensusRow,
rightSobelRow, rightCensusRow,
costImageRow);
costImageRow += width_*disparityTotal_;
calcRowCosts(leftSobelRow, leftCensusRow,
rightSobelRow, rightCensusRow,
costImageRow);
_mm_free(leftSobelImage);
_mm_free(rightSobelImage);
free(leftCensusImage);
free(rightCensusImage);
}
void SGMStereo::computeLeftCostImage(const unsigned char* leftGrayscaleImage, const unsigned char* rightGrayscaleImage) {
unsigned char* leftSobelImage = reinterpret_cast<unsigned char*>(_mm_malloc(widthStep_*height_*sizeof(unsigned char), 16));
unsigned char* rightSobelImage = reinterpret_cast<unsigned char*>(_mm_malloc(widthStep_*height_*sizeof(unsigned char), 16));
//Le filtre de Sobel est un opérateur utilisé en traitement d'image pour la détection de contours.
//Il s'agit d'un des opérateurs les plus simples qui donne toutefois des résultats corrects.
//Pour faire simple, l'opérateur calcule le gradient de l'intensité de chaque pixel.
// Ceci indique la direction de la plus forte variation du clair au sombre, ainsi que le taux de changement dans cette direction.
// On connaît alors les points de changement soudain de luminosité, correspondant probablement à des bords, ainsi que l'orientation de ces bords.
computeCappedSobelImage(leftGrayscaleImage, false, leftSobelImage);
computeCappedSobelImage(rightGrayscaleImage, true, rightSobelImage);
int* leftCensusImage = reinterpret_cast<int*>(malloc(width_*height_*sizeof(int)));
int* rightCensusImage = reinterpret_cast<int*>(malloc(width_*height_*sizeof(int)));
//Census Transform is a form of non-parametric local transform (i.e. relies on the relative ordering of local intensity values,
// and not on the intensity values themselves) used in image processing to map the intensity values of the pixels within a square window to a bit string,
// thereby capturing the image structure
computeCensusImage(leftGrayscaleImage, leftCensusImage);
computeCensusImage(rightGrayscaleImage, rightCensusImage);
unsigned char* leftSobelRow = leftSobelImage;
unsigned char* rightSobelRow = rightSobelImage;
int* leftCensusRow = leftCensusImage;
int* rightCensusRow = rightCensusImage;
unsigned short* costImageRow = leftCostImage_;
calcTopRowCost(leftSobelRow, leftCensusRow,
rightSobelRow, rightCensusRow,
costImageRow);
costImageRow += width_*disparityTotal_;
calcRowCosts(leftSobelRow, leftCensusRow,
rightSobelRow, rightCensusRow,
costImageRow);
_mm_free(leftSobelImage);
_mm_free(rightSobelImage);
free(leftCensusImage);
free(rightCensusImage);
}
