void read_radiance(std::istream& in,
radiance_reader& reader,
bool invert_X,
bool invert_Y,
bool invert_Z) {
std::string str;
std::getline(in, str);
if (str != "#?RADIANCE")
throw std::runtime_error("not radiance format");
float exposure = 1.0f;
float pixaspect = 1.0f;
chromacity prim = chromacity::stdprims;
V3 colour_correction(V3::mk(1.0f, 1.0f, 1.0f));
radiance_colour_format fmt = RADIANCE_FMT_UNKNOWN;
while (in.good()) {
std::getline(in, str);
if (str == "")
break;
if (str[0] == '#')
continue;
std::string tag;
std::istringstream inl(str);
inl >> tag;
if (tag == "EXPOSURE=") {
inl >> exposure;
} else if (tag == "PIXASPECT=") {
/*!
* \brief calculates a disparity map given two images
* \param img_left colour data for the left image2
* \param img_right colour data for the right image
* \param img_width width of the image
* \param img_height height of the image
* \param offset_x calibration offset x
* \param offset_y calibration offset y
* \param vertical_sampling vertical sampling rate - we don't need every row
* \param max_disparity_percent maximum disparity as a percentage of image width
* \param correlation_radius radius in pixels used for patch matching
* \param smoothing_radius radius in pixels used for smoothing of the disparity space
* \param disparity_step step size for sampling different disparities
* \param disparity_threshold_percent a threshold applied to the disparity map
* \param despeckle optionally apply despeckling to clean up the disparity map
* \param disparity_space array used for the disparity space
* \param disparity_map returned disparity map
*/
void stereodense::update_disparity_map(
unsigned char* img_left,
unsigned char* img_right,
int img_width,
int img_height,
int offset_x,
int offset_y,
int vertical_sampling,
int max_disparity_percent,
int correlation_radius,
int smoothing_radius,
int disparity_step,
int disparity_threshold_percent,
bool despeckle,
int cross_checking_threshold,
unsigned int *disparity_space,
unsigned int *disparity_map)
{
int disparity_space_width = img_width/smoothing_radius;
int disparity_space_height = (img_height / vertical_sampling)/STEREO_DENSE_SMOOTH_VERTICAL;
int max_disparity_pixels = max_disparity_percent * img_width / 100;
// correct the colours of the right image so that they're similar to the left
colour_correction(
img_left,
img_right,
img_width,
img_height,
offset_y);
// create the disparity space
update_disparity_space(
img_left,
img_right,
img_width,
img_height,
offset_x,
offset_y,
vertical_sampling,
max_disparity_percent,
correlation_radius,
smoothing_radius,
disparity_step,
disparity_space_width,
disparity_space_height,
disparity_space);
// create the disparity map
disparity_map_from_disparity_space(
img_left,
img_right,
img_width,
img_height,
offset_x,
offset_y,
smoothing_radius,
vertical_sampling,
disparity_space,
disparity_space_width,
disparity_space_height,
disparity_step,
max_disparity_pixels/disparity_step,
cross_checking_threshold,
disparity_map);
// optionally apply a threshold to the disparity map
if (disparity_threshold_percent > 0) {
unsigned int disparity_threshold_pixels = (unsigned int)(disparity_threshold_percent * max_disparity_pixels / 100);
for (int i = disparity_space_width*disparity_space_height*2-2; i >= 0; i -= 2) {
if (disparity_map[i+1] < disparity_threshold_pixels) {
disparity_map[i+1] = 0;
}
}
}
// clean up the disparity map
if (despeckle) {
int pass = 0;
while (despeckle_disparity_map(
disparity_space_width,
disparity_space_height,
disparity_map,
max_disparity_pixels)) {
pass++;
if (pass > 5) break;
}
if (disparity_threshold_percent > 0) {
post_threshold_filter(disparity_map, disparity_space_width, disparity_space_height, 6);
}
}
// multiply disparity values so that sub-pixel interpolation is possible
for (int i = disparity_space_width*disparity_space_height*2-2; i >= 0; i -= 2) {
disparity_map[i + 1] *= STEREO_DENSE_SUB_PIXEL;
}
}
