void RLRBController::copy(const RLRBController& otherCtrl)
{
setReward(otherCtrl.getReward());
setPrevReward(otherCtrl.getPrevReward());
}
int main(int argc, char *argv[]) {
BOOL leftImageHasBeenRead = FALSE;
BOOL rightImageHasBeenRead = FALSE;
BOOL disparityMapHasBeenRead = FALSE;
BOOL do_matching = TRUE;
BOOL do_postprocessing = TRUE;
int tempCols, tempRows;
clock_t time1, time2, time3, time4;
char *ptr_ig = NULL;
int i;
/* Left and right images */
uchar *imgL, *imgR;
/* Results after matching the scanlines independently */
uchar *disparity_map1, *depth_discontinuities1;
/* Results after postprocessing the first disparity map */
uchar *disparity_map2, *depth_discontinuities2;
g_maxdisp = -1;
/* Parse command line */
for (i = 1 ; i < argc ; i++) {
if (strcmp(argv[i], "-h") == 0) usage(argv[0]);
else if (strcmp(argv[i], "-o") == 0) {
i++;
if (i == argc) error("Missing argument.");
setOcclusionPenalty(atoi(argv[i]));
}
else if (strcmp(argv[i], "-r") == 0) {
i++;
if (i == argc) error("Missing argument.");
setReward(atoi(argv[i]));
}
else if (strcmp(argv[i], "-d") == 0) {
i++;
if (i == argc) error("Missing argument.");
strcpy(dir_in, argv[i]);
}
else if (strcmp(argv[i], "-rel") == 0) {
i++;
if (i == argc) error("Missing argument.");
setReliableThreshold(atoi(argv[i]));
}
else if (strcmp(argv[i], "-alpha") == 0) {
i++;
if (i == argc) error("Missing argument.");
setAlpha(atof(argv[i]));
}
else if (strcmp(argv[i], "-ma") == 0) {
i++;
if (i == argc) error("Missing argument.");
setMaxAttractionThreshold(atoi(argv[i]));
}
else if (strcmp(argv[i], "-b") == 0)
writeIntermediateResults = TRUE;
else if (strcmp(argv[i], "-np") == 0)
do_postprocessing = FALSE;
else if (strcmp(argv[i], "-jp") == 0)
do_matching = FALSE;
else if (strcmp(argv[i], "-wpi") == 0)
writePostprocessingIntermediateResults = TRUE;
else if (!leftImageHasBeenRead) {
strcpy(basenameL, argv[i]);
leftImageHasBeenRead = TRUE;
}
else if (strcmp(argv[i], "-ig") == 0) {
i++;
if (i == argc) error("Missing argument.");
strcpy(basename_ig, argv[i]);
ptr_ig = (char *) basename_ig;
}
else if (rightImageHasBeenRead) {
g_maxdisp = atoi((argv[i]));
g_slop = g_maxdisp + 1;
}
else if (!rightImageHasBeenRead) {
strcpy(basenameR, argv[i]);
rightImageHasBeenRead = TRUE;
}
else if (!disparityMapHasBeenRead) {
strcpy(basename_dm_in, argv[i]);
disparityMapHasBeenRead = TRUE;
}
else warning("Unknown argument.");
}
if (!leftImageHasBeenRead || !rightImageHasBeenRead ||
(!do_matching && !disparityMapHasBeenRead) ||
(g_maxdisp == -1) || (g_maxdisp < 14) || (g_maxdisp > 50))
usage(argv[0]);
sprintf(fnameL, "%s/%s", dir_in, basenameL);
sprintf(fnameR, "%s/%s", dir_in, basenameR);
/* Read images (and maybe disparity map and intensity gradients) */
printf("Attempting to read %s and\n"
" %s\n", fnameL, fnameR);
imgL = pgmReadFile(fnameL, &g_cols, &g_rows);
disparity_map1 = malloc(g_rows*g_cols*sizeof(uchar));
if (disparity_map1 == NULL)
error("(main) Memory not allocated");
depth_discontinuities1 = malloc(g_rows*g_cols*sizeof(uchar));
if (depth_discontinuities1 == NULL)
error("(main) Memory not allocated");
disparity_map2 = malloc(g_rows*g_cols*sizeof(uchar));
if (disparity_map2 == NULL)
error("(main) Memory not allocated");
depth_discontinuities2 = malloc(g_rows*g_cols*sizeof(uchar));
if (depth_discontinuities2 == NULL)
error("(main) Memory not allocated");
imgR = pgmReadFile(fnameR, &tempCols, &tempRows);
if (tempCols != g_cols || tempRows != g_rows) size_error(tempCols, tempRows);
printf("Images successfully read. Their size is %3d by %3d\n", g_cols, g_rows);
if (!do_matching) {
printf("Attempting to read %s\n", basename_dm_in);
disparity_map1 = pgmReadFile(basename_dm_in, &tempCols, &tempRows);
if (tempCols != g_cols || tempRows != g_rows) size_error(tempCols, tempRows);
}
printf("Using maximum disparity of %d\n", g_maxdisp);
if (do_matching) {
time1 = clock();
/* Match scanlines using dynamic programming */
printf("Matching scanlines independently ...\n");
matchScanlines(imgL, imgR, disparity_map1, depth_discontinuities1, ptr_ig);
/* Check the time */
time2 = clock();
printf("Done. Independent processing took %4.1f seconds "
"of processor time.\n", (((float) time2 - time1)/ CLOCKS_PER_SEC));
}
if (do_postprocessing) {
time3 = clock();
/* Postprocess disparity map */
printf("Postprocessing disparity map ...\n");
postprocess(imgL, imgR, disparity_map1, disparity_map2,
depth_discontinuities2);
/* Check the time */
time4 = clock();
printf("Done. Postprocessing took %4.1f seconds of processor time.\n",
(((float) time4 - time3)/ CLOCKS_PER_SEC));
}
if (do_matching && do_postprocessing) {
printf("Total processor time was %4.1f seconds.\n",
(((float) time4 - time1)/ CLOCKS_PER_SEC));
}
/* Write results */
if (do_matching && writeIntermediateResults) {
printf("Writing to %s and %s\n", fname_dm_intermediate,
fname_dd_intermediate);
pgmWriteFile(fname_dm_intermediate,
(unsigned char *) disparity_map1, g_cols, g_rows);
pgmWriteFile(fname_dd_intermediate,
(unsigned char *) depth_discontinuities1, g_cols, g_rows);
}
if (do_postprocessing) {
printf("Writing to %s and %s\n", fname_dm, fname_dd);
pgmWriteFile(fname_dm, (unsigned char *) disparity_map2, g_cols, g_rows);
pgmWriteFile(fname_dd, (unsigned char *) depth_discontinuities2, g_cols, g_rows);
}
printf("\n");
free(imgL);
free(imgR);
free(disparity_map1);
free(depth_discontinuities1);
free(disparity_map2);
free(depth_discontinuities2);
}
