void update(MMSP::grid<2,double>& grid, int steps)
{
const MMSP::grid<2,double>& f = grid;
MMSP::grid<2,double> u(f);
int x0 = MMSP::x0(u);
int x1 = MMSP::x1(u);
int y0 = MMSP::y0(u);
int y1 = MMSP::y1(u);
for (int x=x0; x<x1; x++)
for (int y=y0; y<y1; y++)
u[x][y] = 0.0;
FMG(u,f,1,2,2);
MMSP::swap(grid,u);
}
void StereoVar::FMG(Mat &I1, Mat &I2, Mat &I2x, Mat &u, int level)
{
double scale = pow(pyrScale, (double) level);
CvSize frmSize = cvSize((int) (u.cols * scale + 0.5), (int) (u.rows * scale + 0.5));
Mat I1_h, I2_h, I2x_h, u_h;
//scaling DOWN
resize(I1, I1_h, frmSize, 0, 0, INTER_AREA);
resize(I2, I2_h, frmSize, 0, 0, INTER_AREA);
resize(u, u_h, frmSize, 0, 0, INTER_AREA);
u_h.convertTo(u_h, u_h.type(), scale);
I2x_h = diffX(I2_h);
switch (cycle) {
case CYCLE_O:
VariationalSolver(I1_h, I2_h, I2x_h, u_h, level);
break;
case CYCLE_V:
VCycle_MyFAS(I1_h, I2_h, I2x_h, u_h, level);
break;
}
u_h.convertTo(u_h, u_h.type(), 1.0 / scale);
//scaling UP
resize(u_h, u, u.size(), 0, 0, INTER_CUBIC);
I1_h.release();
I2_h.release();
I2x_h.release();
u_h.release();
level--;
if ((flags & USE_AUTO_PARAMS) && (level < levels / 3)) {
penalization = PENALIZATION_PERONA_MALIK;
fi *= 100;
flags -= USE_AUTO_PARAMS;
autoParams();
}
if (flags & USE_MEDIAN_FILTERING) medianBlur(u, u, 3);
if (level >= 0) FMG(I1, I2, I2x, u, level);
}
std::vector<CFWA>LoadFwas( const char *pszFwaFile )
{
std::vector<CFWA>fwas;
//if constructor opens a file
ifstream inFWAFile( pszFwaFile, ios::in );
//exit program if ifstream could not open file
if ( !inFWAFile ) {
cerr << "File could not be opened" << endl;
// exit( 1 );
}
// Enter elements for first FWA
string FWA( "Roadless_Stevensville" );
string FMG( "Roadless" );
int WalkInPct = 98;
int PumpNRoll = 0;
int Head = 100;
int Tail = 0;
int Parallel = 0;
int AttDist = 0;
bool WaterDrops = true;
bool Excluded = false;
double DiscSize = 0.01;
int ESLTime = 1440;
int ESLSize = 300;
double AirtoGround = 1.6;
int WalkInDelay[6] = { 0, 0, 30, 30, 15, 15 };
int PostContUsed[6] = { 0, 0, 20, 20, 20, 20 };
int PostContUnused[6] = { 0, 0, 0, 0, 0, 0, };
int PostEscape[6] = { 0, 0, 20, 20, 20, 20 };
int ReloadDelay[5] = { 0, 20, 20, 5, 25 };
int FirstUnitDelay = 5;
double Diurnal[24] = {0.10, 0.10, 0.10, 0.10, 0.10, 0.10,
0.10, 0.10, 0.10, 0.10, 0.20, 0.40,
0.70, 1.00, 1.00, 1.00, 1.00, 1.00,
1.00, 1.00, 0.70, 0.50, 0.30, 0.20 };
string ROSAdjFuel[10] = { "x", "x", "x", "x", "x", "x", "x", "x", "x", "x" };
double ROSAdjustment[10] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
int Index = 0;
string DispLogicId( "FMU12" );
double Latitude = 0;
double Longitude = 0;
// Read in each FWA entry from file
while ( inFWAFile >> FWA >> FMG >> WalkInPct >> PumpNRoll >> Head >> Tail >> Parallel >> AttDist >> WaterDrops >> Excluded
>> DiscSize >> ESLTime >> ESLSize >> AirtoGround ) {
for ( int i = 0; i < 6; i++ )
inFWAFile >> WalkInDelay[i];
for ( int i = 0; i < 6; i++ )
inFWAFile >> PostContUsed[i];
for ( int i = 0; i < 6; i++ )
inFWAFile >> PostContUnused[i];
for ( int i = 0; i < 6; i++ )
inFWAFile >> PostEscape[i];
for ( int i = 0; i < 5; i++ )
inFWAFile >> ReloadDelay[i];
inFWAFile >> FirstUnitDelay;
for ( int i = 0; i < 24; i++ )
inFWAFile >> Diurnal[i];
for ( int i = 0; i < 10; i++ )
inFWAFile >> ROSAdjFuel[i];
for ( int i = 0; i < 10; i++ )
inFWAFile >> ROSAdjustment[i];
inFWAFile >> Index >> DispLogicId >> Latitude >> Longitude;
int bp[5] = { 0,0,0,0,0 };
int rn[13][5] = { {1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1},
{1,1,1,1,1} };
CDispLogic logic("", "", 3, bp, rn );
string FPU = "GB_ID_002";
fwas.push_back( CFWA( FWA, FMG, WalkInPct, PumpNRoll, Head, Tail, Parallel, AttDist, WaterDrops, Excluded, DiscSize,
ESLTime, ESLSize, AirtoGround, WalkInDelay, PostContUsed, PostContUnused, PostEscape, ReloadDelay, FirstUnitDelay,
Diurnal, ROSAdjFuel, ROSAdjustment, 0, logic, FPU ));
}
return fwas;
}
void StereoVar::operator ()( const Mat& left, const Mat& right, Mat& disp )
{
CV_Assert(left.size() == right.size() && left.type() == right.type());
CvSize imgSize = left.size();
int MaxD = MAX(labs(minDisp), labs(maxDisp));
int SignD = 1; if (MIN(minDisp, maxDisp) < 0) SignD = -1;
if (minDisp >= maxDisp) {MaxD = 256; SignD = 1;}
Mat u;
if ((flags & USE_INITIAL_DISPARITY) && (!disp.empty())) {
CV_Assert(disp.size() == left.size() && disp.type() == CV_8UC1);
disp.convertTo(u, CV_32FC1, static_cast<double>(SignD * MaxD) / 256);
} else {
u.create(imgSize, CV_32FC1);
u.setTo(0);
}
// Preprocessing
Mat leftgray, rightgray;
if (left.type() != CV_8UC1) {
cvtColor(left, leftgray, CV_BGR2GRAY);
cvtColor(right, rightgray, CV_BGR2GRAY);
} else {
left.copyTo(leftgray);
right.copyTo(rightgray);
}
if (flags & USE_EQUALIZE_HIST) {
equalizeHist(leftgray, leftgray);
equalizeHist(rightgray, rightgray);
}
if (poly_sigma > 0.0001) {
GaussianBlur(leftgray, leftgray, cvSize(poly_n, poly_n), poly_sigma);
GaussianBlur(rightgray, rightgray, cvSize(poly_n, poly_n), poly_sigma);
}
if (flags & USE_AUTO_PARAMS) {
penalization = PENALIZATION_TICHONOV;
autoParams();
}
Mat I1, I2;
leftgray.convertTo(I1, CV_32FC1);
rightgray.convertTo(I2, CV_32FC1);
leftgray.release();
rightgray.release();
Mat I2x = diffX(I2);
FMG(I1, I2, I2x, u, levels - 1);
I1.release();
I2.release();
I2x.release();
disp.create( left.size(), CV_8UC1 );
u = abs(u);
u.convertTo(disp, disp.type(), 256 / MaxD, 0);
u.release();
}
