std::vector<Displacement> createDisplacementVecFromJSON(const rapidjson::Document &config_doc) {
std::vector< std::vector< float > > disp_vec;
if (config_doc.HasMember("displacements")) {
createVectorFromJSON(config_doc, "displacements", disp_vec);
}
std::vector<Displacement> disp_out(disp_vec.size());
for(size_t i = 0; i < disp_vec.size(); ++i) {
if (disp_vec[i].size() != 6) {
throw std::runtime_error(
(boost::format("Row %d in displacements does not specify x, y and z translations and rotations.") % i).str()
);
}
disp_out[i] << disp_vec[i][0], disp_vec[i][1], disp_vec[i][2],
disp_vec[i][3], disp_vec[i][4], disp_vec[i][5];
}
return disp_out;
}
int main(){
name_pool.push_back("teddy");
for(int iii = 0;iii<name_pool.size();iii++){
std::string directory = "/Users/xiaotan/Data/CTMAP/";
std::string imL_name = directory+name_pool[iii]+"/imL.png";
std::string imR_name = directory+name_pool[iii]+"/imR.png";
cv::Mat imL=cv::imread(imL_name.c_str());
cv::Mat imR=cv::imread(imR_name.c_str());
cv::Mat imL_;
cv::Mat imR_;
cv::flip(imR,imL_,1);
cv::flip(imL,imR_,1);
int height = imL.rows;
int width = imL.cols;
double * cost = cal_cost(imL,imR,15.0/255,4.0/255,0.86,1); //15,4.0 0.86 1
///////////////////////////////////smooth before using for guiding////////////////////////////////
/*
cv::medianBlur(imL,imL,3);
cv::medianBlur(imR,imR,3);
cv::medianBlur(imL_,imL_,3);
cv::medianBlur(imR_,imR_,3);
*/
imL.convertTo(imL,CV_64FC3);
imR.convertTo(imR,CV_64FC3);
imL = imL.mul(cv::Mat(height,width,CV_64FC3,cv::Scalar::all(1.0/255)));
imR = imR.mul(cv::Mat(height,width,CV_64FC3,cv::Scalar::all(1.0/255)));
imL_.convertTo(imL_,CV_64FC3);
imR_.convertTo(imR_,CV_64FC3);
imL_ = imL_.mul(cv::Mat(height,width,CV_64FC3,cv::Scalar::all(1.0/255)));
imR_ = imR_.mul(cv::Mat(height,width,CV_64FC3,cv::Scalar::all(1.0/255)));
double delta_step = 1.5;
double delta_min = 0.00001;
double * old_V = NULL;
double * old_V_ = NULL;
cv::Mat disp_L;
cv::Mat disp_R;
stereo_pyra( cost,imL, F_win, Eps, 0.00002, 0.00002*5, 0,old_V,disp_L);
Exp_and_norm(old_V,cost,width,height);
cv::Mat out_im;
disp_out(imL,old_V,Disp_K,out_im);
cv::imwrite("/Users/xiaotan/Data/CTMAP/teddy/result.png",out_im);
free(old_V);
free(old_V_);
free(cost);
}
return 0;
}
