-
Notifications
You must be signed in to change notification settings - Fork 14
/
spsstereo_main.cpp
233 lines (202 loc) · 10.4 KB
/
spsstereo_main.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
/*
Copyright (C) 2014 Koichiro Yamaguchi
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <opencv2/opencv.hpp>
#include "SPSStereo.h"
#include "defParameter.h"
void makeSegmentBoundaryImage(const cv::Mat & inputImage,
const /*png::image<png::gray_pixel_16>*/ cv::Mat & segmentImage,
std::vector< std::vector<int> >& boundaryLabels,
cv::Mat& segmentBoundaryImage);
void writeDisparityPlaneFile(const std::vector< std::vector<double> >& disparityPlaneParameters, const std::string outputDisparityPlaneFilename);
void writeBoundaryLabelFile(const std::vector< std::vector<int> >& boundaryLabels, const std::string outputBoundaryLabelFilename);
int main(int argc, char* argv[]) {
if (argc < 2) {
std::cerr << "usage: sgmstereo left right" << std::endl;
exit(1);
}
std::string leftImageFilename;
std::string rightImageFilename;
std::ifstream images(argv[1]);
std::getline(images, leftImageFilename);
std::getline(images, rightImageFilename);
while (!images.eof())
{
std::cout << "Procesing : " << leftImageFilename << std::endl;
cv::Mat leftImage = cv::imread(leftImageFilename, CV_LOAD_IMAGE_COLOR);
cv::Mat rightImage = cv::imread(rightImageFilename, CV_LOAD_IMAGE_COLOR);
SPSStereo sps;
sps.setIterationTotal(outerIterationTotal, innerIterationTotal);
sps.setWeightParameter(lambda_pos, lambda_depth, lambda_bou, lambda_smo);
sps.setInlierThreshold(lambda_d);
sps.setPenaltyParameter(lambda_hinge, lambda_occ, lambda_pen);
cv::Mat segmentImage;
cv::Mat disparityImage;
std::vector< std::vector<double> > disparityPlaneParameters;
std::vector< std::vector<int> > boundaryLabels;
sps.compute(superpixelTotal, leftImage, rightImage, segmentImage, disparityImage, disparityPlaneParameters, boundaryLabels);
cv::Mat segmentBoundaryImage;
makeSegmentBoundaryImage(leftImage, segmentImage, boundaryLabels, segmentBoundaryImage);
std::string outputBaseFilename = leftImageFilename;
size_t slashPosition = outputBaseFilename.rfind('/');
if (slashPosition != std::string::npos) outputBaseFilename.erase(0, slashPosition + 1);
size_t dotPosition = outputBaseFilename.rfind('.');
if (dotPosition != std::string::npos) outputBaseFilename.erase(dotPosition);
std::string outputDisparityImageFilename = outputBaseFilename + "_left_disparity.png";
std::string outputSegmentImageFilename = outputBaseFilename + "_segment.png";
std::string outputBoundaryImageFilename = outputBaseFilename + "_boundary.png";
std::string outputDisparityPlaneFilename = outputBaseFilename + "_plane.txt";
std::string outputBoundaryLabelFilename = outputBaseFilename + "_label.txt";
cv::imwrite(outputDisparityImageFilename, disparityImage);
cv::imwrite(outputSegmentImageFilename, segmentImage);
cv::imwrite(outputBoundaryImageFilename, segmentBoundaryImage);
writeDisparityPlaneFile(disparityPlaneParameters, outputDisparityPlaneFilename);
writeBoundaryLabelFile(boundaryLabels, outputBoundaryLabelFilename);
std::getline(images, leftImageFilename);
std::getline(images, rightImageFilename);
}
return 0;
}
void makeSegmentBoundaryImage(const cv::Mat & inputImage,
const /*png::image<png::gray_pixel_16>*/ cv::Mat & segmentImage,
std::vector< std::vector<int> >& boundaryLabels,
cv::Mat& segmentBoundaryImage)
{
int width = static_cast<int>(inputImage.cols);
int height = static_cast<int>(inputImage.rows);
int boundaryTotal = static_cast<int>(boundaryLabels.size());
segmentBoundaryImage.create(height, width, CV_8UC3);
for (int y = 0; y < height; ++y) {
for (int x = 0; x < width; ++x) {
segmentBoundaryImage.at<cv::Vec3b>(y,x) = inputImage.at<cv::Vec3b>(y, x);
}
}
int boundaryWidth = 2;
for (int y = 0; y < height - 1; ++y) {
for (int x = 0; x < width - 1; ++x) {
int pixelLabelIndex = segmentImage.at<uint16_t>(y, x);
if (segmentImage.at<uint16_t>(y, x + 1) != pixelLabelIndex) {
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (x - w >= 0) segmentBoundaryImage.at<cv::Vec3b>(y, x - w) = cv::Vec3b(128, 128, 128);
}
for (int w = 1; w < boundaryWidth; ++w) {
if (x + w < width) segmentBoundaryImage.at<cv::Vec3b>(y, x + w) = cv::Vec3b(128, 128, 128);
}
}
if (segmentImage.at<uint16_t>( y + 1, x) != pixelLabelIndex) {
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (y - w >= 0) segmentBoundaryImage.at<cv::Vec3b>(y - w, x) = cv::Vec3b(128, 128, 128);
}
for (int w = 1; w < boundaryWidth; ++w) {
if (y + w < height) segmentBoundaryImage.at<cv::Vec3b>(y + w, x) = cv::Vec3b(128, 128, 128);
}
}
}
}
boundaryWidth = 7;
for (int y = 0; y < height - 1; ++y) {
for (int x = 0; x < width - 1; ++x) {
int pixelLabelIndex = segmentImage.at<uint16_t>(y, x);
if (segmentImage.at<uint16_t>(y, x + 1) != pixelLabelIndex) {
cv::Vec3b negativeSideColor, positiveSideColor;
int pixelBoundaryIndex = -1;
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
if ((boundaryLabels[boundaryIndex][0] == pixelLabelIndex && boundaryLabels[boundaryIndex][1] == segmentImage.at<uint16_t>(y, x + 1))
|| (boundaryLabels[boundaryIndex][0] == segmentImage.at<uint16_t>(y, x + 1) && boundaryLabels[boundaryIndex][1] == pixelLabelIndex))
{
pixelBoundaryIndex = boundaryIndex;
break;
}
}
if (boundaryLabels[pixelBoundaryIndex][2] == 3) continue;
else if (boundaryLabels[pixelBoundaryIndex][2] == 2) {
negativeSideColor.val[2] = 0; negativeSideColor.val[1] = 225; negativeSideColor.val[0] = 0;
positiveSideColor.val[2] = 0; positiveSideColor.val[1] = 225; positiveSideColor.val[0] = 0;
} else if (pixelLabelIndex == boundaryLabels[pixelBoundaryIndex][boundaryLabels[pixelBoundaryIndex][2]]) {
negativeSideColor.val[2] = 225; negativeSideColor.val[1] = 0; negativeSideColor.val[0] = 0;
positiveSideColor.val[2] = 0; positiveSideColor.val[1] = 0; positiveSideColor.val[0] = 225;
} else {
negativeSideColor.val[2] = 0; negativeSideColor.val[1] = 0; negativeSideColor.val[0] = 225;
positiveSideColor.val[2] = 225; positiveSideColor.val[1] = 0; positiveSideColor.val[0] = 0;
}
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (x - w >= 0) segmentBoundaryImage.at<cv::Vec3b>(y, x - w) = negativeSideColor;
}
for (int w = 1; w < boundaryWidth; ++w) {
if (x + w < width) segmentBoundaryImage.at<cv::Vec3b>(y, x + w) = positiveSideColor;
}
}
if (segmentImage.at<uint16_t>(y + 1, x) != pixelLabelIndex) {
cv::Vec3b negativeSideColor, positiveSideColor;
int pixelBoundaryIndex = -1;
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
if ((boundaryLabels[boundaryIndex][0] == pixelLabelIndex && boundaryLabels[boundaryIndex][1] == segmentImage.at<uint16_t>(y + 1, x))
|| (boundaryLabels[boundaryIndex][0] == segmentImage.at<uint16_t>(y + 1, x) && boundaryLabels[boundaryIndex][1] == pixelLabelIndex))
{
pixelBoundaryIndex = boundaryIndex;
break;
}
}
if (boundaryLabels[pixelBoundaryIndex][2] == 3) continue;
else if (boundaryLabels[pixelBoundaryIndex][2] == 2) {
negativeSideColor.val[2] = 0; negativeSideColor.val[1] = 225; negativeSideColor.val[0] = 0;
positiveSideColor.val[2] = 0; positiveSideColor.val[1] = 225; positiveSideColor.val[0] = 0;
} else if (pixelLabelIndex == boundaryLabels[pixelBoundaryIndex][boundaryLabels[pixelBoundaryIndex][2]]) {
negativeSideColor.val[2] = 225; negativeSideColor.val[1] = 0; negativeSideColor.val[0] = 0;
positiveSideColor.val[2] = 0; positiveSideColor.val[1] = 0; positiveSideColor.val[0] = 225;
} else {
negativeSideColor.val[2] = 0; negativeSideColor.val[1] = 0; negativeSideColor.val[0] = 225;
positiveSideColor.val[2] = 225; positiveSideColor.val[1] = 0; positiveSideColor.val[0] = 0;
}
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (y - w >= 0) segmentBoundaryImage.at<cv::Vec3b>(y - w, x) = negativeSideColor;
}
for (int w = 1; w < boundaryWidth; ++w) {
if (y+ w < height) segmentBoundaryImage.at<cv::Vec3b>(y + w, x) = positiveSideColor;
}
}
}
}
}
void writeDisparityPlaneFile(const std::vector< std::vector<double> >& disparityPlaneParameters, const std::string outputDisparityPlaneFilename) {
std::ofstream outputFileStream(outputDisparityPlaneFilename.c_str(), std::ios_base::out);
if (outputFileStream.fail()) {
std::cerr << "error: can't open file (" << outputDisparityPlaneFilename << ")" << std::endl;
exit(0);
}
int segmentTotal = static_cast<int>(disparityPlaneParameters.size());
for (int segmentIndex = 0; segmentIndex < segmentTotal; ++segmentIndex) {
outputFileStream << disparityPlaneParameters[segmentIndex][0] << " ";
outputFileStream << disparityPlaneParameters[segmentIndex][1] << " ";
outputFileStream << disparityPlaneParameters[segmentIndex][2] << std::endl;
}
outputFileStream.close();
}
void writeBoundaryLabelFile(const std::vector< std::vector<int> >& boundaryLabels, const std::string outputBoundaryLabelFilename) {
std::ofstream outputFileStream(outputBoundaryLabelFilename.c_str(), std::ios_base::out);
if (outputFileStream.fail()) {
std::cerr << "error: can't open output file (" << outputBoundaryLabelFilename << ")" << std::endl;
exit(1);
}
int boundaryTotal = static_cast<int>(boundaryLabels.size());
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
outputFileStream << boundaryLabels[boundaryIndex][0] << " ";
outputFileStream << boundaryLabels[boundaryIndex][1] << " ";
outputFileStream << boundaryLabels[boundaryIndex][2] << std::endl;
}
outputFileStream.close();
}