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SGM.cpp
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SGM.cpp
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#include"SGM.h"
const float SGM::P1 = 7;
const float SGM::P2_apha = 0.25f;
const float SGM::P2_gamma = 100;
const float SGM::P2_min = 17;
SGM::SGM(){}
SGM::~SGM(){}
//得到CT代价
int SGM::Count1(unsigned int x)
{
int c = 0;
while (x)
{
x &= x - 1;
c++;
}
return c;
}
void SGM::CalulateCT(unsigned char *src, int width, int height, unsigned int *dst)
{
int index = 0;
memset(src, width*height, 0);
for (int row = 2; row < height - 2; row++)
for (int col = 2; col < width - 2; col++)
{
int res = 0;
int midval = src[(row)*width + col];
for (int m = -2; m <= 2; m++)
for (int n = -2; n <= 2; n++)
{
if (m == 0 && n == 0) continue;
res <<= 1;
if (src[(row + m)*width + col + n] > midval)
{
res |= 1;
}
}
dst[row*width + col] = res;
}
}
void SGM::hamin(unsigned int *src1, unsigned *src2, int DMAX, int width, int height, float lamada, vector< vector<int> > &cpds)
{
for (int row = 0; row < height; row++)
{
int ii = row;//没用到
for (int col = 0; col < width; col++)
{
vector<int> cpd;
unsigned int left = src1[row*width + col];
for (int i = 0; i < DMAX; i++)
{
if (col >= i)
{
unsigned int right = src2[row*width + col - i];
unsigned int xor_res = left^right;
int cnt = Count1(xor_res);
cpd.push_back(Count1(xor_res)>lamada ? lamada : Count1(xor_res));
//of << cnt << " ";
}
else
{
cpd.push_back(12);
//of << 12 << " ";
}
}
cpds.push_back(cpd);
//of << endl;
}
}
}
//得到SAD代价
void SGM::SAD(uchar *src1, uchar *src2, int height, int width, int DMAX, int WindowSize, vector<vector<float> > &cpds)
{
for (int row = 0; row < height; row++)
for (int col = 0; col < width; col++)
{
vector<float> cpd;
if (row <= WindowSize / 2 || col <= WindowSize / 2 || row >= height - WindowSize / 2 || col >= width - WindowSize / 2)//边界填充
{
for (int d = 0; d < DMAX; d++)
cpd.push_back(1000);
}
else
{
for (int d = 0; d < DMAX; d++)
{
if (d < col - WindowSize / 2)
{
float sum = 0;
for (int i = -WindowSize / 2; i <= WindowSize / 2; i++)
for (int j = -WindowSize / 2; j <= WindowSize / 2; j++)
{
float left = src1[(row + i)*width + col + j];
float right = src2[(row + i)*width + col + j - d];
sum += abs(left - right);
}
cpd.push_back(sum);
}
else
{
cpd.push_back(1000);
}
}
}
cpds.push_back(cpd);
}
}
//动态规划相关
int SGM::GetP2(unsigned char G)
{
int result;
result = (int)(-P2_apha *G + P2_gamma);
if (result < P2_min)
result = P2_min;
return result;
}
SGM_DP_TYPE SGM::min4(SGM_DP_TYPE d1,SGM_DP_TYPE d2,SGM_DP_TYPE d3,SGM_DP_TYPE d4)
{
SGM_DP_TYPE min12 = d1 <= d2 ? d1 : d2;
SGM_DP_TYPE min34 = d3 <= d4 ? d3 : d4;
return min12 < min34 ? min12 : min34;
}
void SGM::SGM_DP_L(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N, unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
int invalid_data = 0;
vector<SGM_DP_TYPE> Lr_Left(cpds[0]);
SGM_DP_TYPE Lr1_Left_min = invalid_data;
int Lr1_Left_min_index = 0;
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(col==0)
{
Lr = cpd;
}else //update
{
unsigned char G ;
if(col < 0)
G = 0;
else
G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[row*width + col -1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_Left[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_Left[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_Left[u+1] + P1;
SGM_DP_TYPE min_elem = Lr1_Left_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr1_Left_min);
}
}
new_cpds.push_back(Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_Left = Lr;
Lr1_Left_min = *minist;
Lr1_Left_min_index = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_R(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
//
new_cpds = vector<vector<SGM_DP_TYPE>>(width*height,vector<SGM_DP_TYPE>(disp_N,0));
int invalid_data = 0;
vector<SGM_DP_TYPE> Lr_Right;
SGM_DP_TYPE Lr_Right_min = invalid_data;
int Lr_Right_min_index = 0;
for(int row = 0; row < height; row ++)
for(int col = width-1; col >= 0 ; col --)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(col== width -1)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[row*width + col + 1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_Right[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_Right[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_Right[u+1] + P1;
SGM_DP_TYPE min_elem = Lr_Right_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_Right_min);
}
}
new_cpds[row*width + col] = (Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_Right = Lr;
Lr_Right_min = *minist;
Lr_Right_min_index = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_LU(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_UPs(width, vector<SGM_DP_TYPE>(64,invalid_data1));
vector<SGM_DP_TYPE> Lr_UPs_min(width,invalid_data1);
vector<int> Lr_UPs_min_index(width,0);
vector<SGM_DP_TYPE> Lr_UL;
SGM_DP_TYPE Lr_UL_min;
int Lr_UL_min_index;
////第一行，Lr1已经可以运算
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(row == 0 || col == 0)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row-1)*width + col - 1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_UL[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_UL[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_UL[u+1] + P1;
SGM_DP_TYPE min_elem = Lr_UL_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_UL_min);
}
}
new_cpds.push_back(Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_UL = Lr_UPs[col];
Lr_UL_min = Lr_UPs_min[col];
Lr_UL_min_index = Lr_UPs_min_index[col];
Lr_UPs[col] = Lr;
Lr_UPs_min[col] = *minist;
Lr_UPs_min_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_RD(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
new_cpds = vector<vector<SGM_DP_TYPE>>(width*height,vector<SGM_DP_TYPE>(disp_N,0));
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_UPs(width, vector<SGM_DP_TYPE>(64,invalid_data1));
vector<SGM_DP_TYPE> Lr_UPs_min(width,invalid_data1);
vector<int> Lr_UPs_min_index(width,0);
vector<SGM_DP_TYPE> Lr_UL;
SGM_DP_TYPE Lr_UL_min;
int Lr_UL_min_index;
////第一行，Lr1已经可以运算
for(int row = height - 1; row >= 0 ; row --)
for(int col = width -1 ; col >= 0 ; col --)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(row == height - 1 || col == width -1)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row+1)*width + col + 1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_UL[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_UL[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_UL[u+1] + P1;
SGM_DP_TYPE min_elem = Lr_UL_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_UL_min);
}
}
new_cpds[row*width + col] = (Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_UL = Lr_UPs[col];
Lr_UL_min = Lr_UPs_min[col];
Lr_UL_min_index = Lr_UPs_min_index[col];
Lr_UPs[col] = Lr;
Lr_UPs_min[col] = *minist;
Lr_UPs_min_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_RU(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_UPs(width, vector<SGM_DP_TYPE>(64,invalid_data1));
vector<SGM_DP_TYPE> Lr_UPs_min(width,invalid_data1);
vector<int> Lr_UPs_min_index(width,0);
vector<SGM_DP_TYPE> Lr_UR;
SGM_DP_TYPE Lr_UR_min;
int Lr_UR_min_index;
////第一行，Lr1已经可以运算
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col]; //获取当前代价
vector<SGM_DP_TYPE> Lr;
if(col < width-1)
{
//对应右上的位置
Lr_UR = Lr_UPs[col+1];
Lr_UR_min = Lr_UPs_min[col+1];
Lr_UR_min_index = Lr_UPs_min_index[col+1];
}
if(row == 0 || col == (width-1))
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row+1)*width + col + 1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_UR[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_UR[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_UR[u+1] + P1;
SGM_DP_TYPE min_elem = Lr_UR_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_UR_min);
}
}
new_cpds.push_back(Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_UPs[col] = Lr;
Lr_UPs_min[col] = *minist;
Lr_UPs_min_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_LD(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
new_cpds = vector<vector<SGM_DP_TYPE>>(width*height,vector<SGM_DP_TYPE>(disp_N,0));
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_UPs(width, vector<SGM_DP_TYPE>(64,invalid_data1));
vector<SGM_DP_TYPE> Lr_UPs_min(width,invalid_data1);
vector<int> Lr_UPs_min_index(width,0);
vector<SGM_DP_TYPE> Lr_UR;
SGM_DP_TYPE Lr_UR_min;
int Lr_UR_min_index;
////第一行，Lr1已经可以运算
for(int row = height - 1; row >= 0; row --)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(col > 0)
{
Lr_UR = Lr_UPs[col-1];
Lr_UR_min = Lr_UPs_min[col-1];
Lr_UR_min_index = Lr_UPs_min_index[col-1];
}
if(row == height - 1 || col == 0)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row+1)*width + col - 1]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_UR[u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_UR[u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_UR[u+1] + P1;
SGM_DP_TYPE min_elem = Lr_UR_min + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_UR_min);
}
}
new_cpds[row*width + col] = (Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_UPs[col] = Lr;
Lr_UPs_min[col] = *minist;
Lr_UPs_min_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_U(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_Ups(width, vector<SGM_DP_TYPE>(disp_N,invalid_data1)); vector<SGM_DP_TYPE> Lr_Ups_mins(width,invalid_data1); vector<int> Lr_Ups_mins_index(width,0);
////第一行，Lr1已经可以运算
//for(int col = 1; col <)
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE>& cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(row == 0)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row-1)*width + col]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_Ups[col][u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_Ups[col][u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_Ups[col][u+1] + P1;
SGM_DP_TYPE min_elem = Lr_Ups_mins[col] + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_Ups_mins[col]);
}
}
new_cpds.push_back(Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_Ups[col] = Lr;
Lr_Ups_mins[col] = *minist;
Lr_Ups_mins_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_D(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp, unsigned char *img_data,vector<vector<SGM_DP_TYPE>>& new_cpds)
{
new_cpds = vector<vector<SGM_DP_TYPE>>(width*height,vector<SGM_DP_TYPE>(disp_N,0));
int invalid_data1 = 0;
vector< vector<SGM_DP_TYPE> > Lr_Ups(width, vector<SGM_DP_TYPE>(64,invalid_data1)); vector<SGM_DP_TYPE> Lr_Ups_mins(width,invalid_data1); vector<int> Lr_Ups_mins_index(width,0);
////第一行，Lr1已经可以运算
//for(int col = 1; col <)
for(int row = height - 1; row >= 0; row --)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE>& cpd = cpds[row*width + col];
vector<SGM_DP_TYPE> Lr;
if(row == height - 1)
{
Lr = cpd;
}else
{
int G = abs((int)((unsigned int)img_data[row*width + col]) - (int)((unsigned int)img_data[(row+1)*width + col]));
int P2 = GetP2(G);
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE d_elem = Lr_Ups[col][u];
SGM_DP_TYPE d_s1_elem = u== 0 ? UCHAR_MAX: Lr_Ups[col][u-1] + P1;
SGM_DP_TYPE d_p1_elem = u== disp_N-1 ? UCHAR_MAX: Lr_Ups[col][u+1] + P1;
SGM_DP_TYPE min_elem = Lr_Ups_mins[col] + P2;
SGM_DP_TYPE minist = min4(d_elem,d_s1_elem,d_p1_elem,min_elem);
Lr.push_back(minist + cpd[u] - Lr_Ups_mins[col]);
}
}
new_cpds[row*width + col] = (Lr);
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(Lr), std::end(Lr));
int min_index = minist - std::begin(Lr);
Lr_Ups[col] = Lr;
Lr_Ups_mins[col] = *minist;
Lr_Ups_mins_index[col] = min_index;
if(disp)
disp[row*width + col] = min_index;
}
}
void SGM::SGM_DP_avg2(vector< vector<SGM_DP_TYPE> >& cpds_1,vector<vector<SGM_DP_TYPE>>&cpds_2,vector<vector<SGM_DP_TYPE>>&cpds_12, int width, int height,int disp_N)
{
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd_1 = cpds_1[row*width + col];
vector<SGM_DP_TYPE> cpd_2 = cpds_2[row*width + col];
vector<SGM_DP_TYPE> cpd_12;
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE cpd_1_u = cpd_1[u];
SGM_DP_TYPE cpd_2_u = cpd_2[u];
cpd_12.push_back((cpd_1_u+cpd_2_u)/2);
}
cpds_12.push_back(cpd_12);
}
}
void SGM::SGM_DP_min2(vector< vector<SGM_DP_TYPE> >& cpds_1,vector<vector<SGM_DP_TYPE>>&cpds_2,vector<vector<SGM_DP_TYPE>>&cpds_12, int width, int height,int disp_N)
{
//vector< vector<SGM_DP_TYPE> > cpds_LR;
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd_1 = cpds_1[row*width + col];
vector<SGM_DP_TYPE> cpd_2 = cpds_2[row*width + col];
vector<SGM_DP_TYPE> cpd_12;
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE cpd_1_u = cpd_1[u];
SGM_DP_TYPE cpd_2_u = cpd_2[u];
cpd_12.push_back(cpd_1_u<=cpd_2_u?cpd_1_u:cpd_2_u);
//cpd_LR.push_back((cpd_L_u+cpd_R_u)/2);
}
cpds_12.push_back(cpd_12);
}
}
void SGM::SGM_DP_avg4(vector< vector<SGM_DP_TYPE> >& cpds_1,vector<vector<SGM_DP_TYPE>>&cpds_2,vector< vector<SGM_DP_TYPE> >& cpds_3,vector<vector<SGM_DP_TYPE>>&cpds_4,vector<vector<SGM_DP_TYPE>>&cpds_1234, int width, int height,int disp_N)
{
//vector< vector<SGM_DP_TYPE> > cpds_1R;
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd_L = cpds_1[row*width + col];
vector<SGM_DP_TYPE> cpd_R = cpds_2[row*width + col];
vector<SGM_DP_TYPE> cpd_U = cpds_3[row*width + col];
vector<SGM_DP_TYPE> cpd_D = cpds_4[row*width + col];
vector<SGM_DP_TYPE> cpd_UD;
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE cpd_L_u = cpd_L[u];
SGM_DP_TYPE cpd_R_u = cpd_R[u];
SGM_DP_TYPE cpd_U_u = cpd_U[u];
SGM_DP_TYPE cpd_D_u = cpd_D[u];
cpd_UD.push_back((cpd_L_u*2+ cpd_R_u*2+ cpd_U_u+cpd_D_u)/6);
//cpd_LR.push_back((cpd_L_u+cpd_R_u)/2);
}
cpds_1234.push_back(cpd_UD);
}
}
void SGM:: SGM_DP_avg5(vector< vector<SGM_DP_TYPE> >& cpds_1,vector<vector<SGM_DP_TYPE>>&cpds_2,vector< vector<SGM_DP_TYPE> >& cpds_3,vector<vector<SGM_DP_TYPE>>&cpds_4,vector<vector<SGM_DP_TYPE>>&cpds_5,vector<vector<SGM_DP_TYPE>>&cpds_12345, int width, int height,int disp_N)
{
//vector< vector<SGM_DP_TYPE> > cpds_1R;
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd_L = cpds_1[row*width + col];
vector<SGM_DP_TYPE> cpd_R = cpds_2[row*width + col];
vector<SGM_DP_TYPE> cpd_U = cpds_3[row*width + col];
vector<SGM_DP_TYPE> cpd_D = cpds_4[row*width + col];
vector<SGM_DP_TYPE> cpd_5 = cpds_5[row*width + col];
vector<SGM_DP_TYPE> cpd_UD;
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE cpd_L_u = cpd_L[u];
SGM_DP_TYPE cpd_R_u = cpd_R[u];
SGM_DP_TYPE cpd_U_u = cpd_U[u];
SGM_DP_TYPE cpd_D_u = cpd_D[u];
SGM_DP_TYPE cpd_5_u = cpd_5[u];
cpd_UD.push_back((cpd_L_u+ cpd_R_u+ cpd_U_u+cpd_D_u+cpd_5_u)/5);
//cpd_LR.push_back((cpd_L_u+cpd_R_u)/2);
}
cpds_12345.push_back(cpd_UD);
}
}
void SGM::SGM_DP_avg8(vector< vector<SGM_DP_TYPE> >& cpds_1,vector<vector<SGM_DP_TYPE>>&cpds_2,vector< vector<SGM_DP_TYPE> >& cpds_3,vector<vector<SGM_DP_TYPE>>&cpds_4,vector< vector<SGM_DP_TYPE> >& cpds_5,vector<vector<SGM_DP_TYPE>>&cpds_6,vector< vector<SGM_DP_TYPE> >& cpds_7,vector<vector<SGM_DP_TYPE>>&cpds_8,vector<vector<SGM_DP_TYPE>>&cpds_o, int width, int height,int disp_N)
{
//vector< vector<SGM_DP_TYPE> > cpds_LR;
for(int row = 0; row < height; row ++)
for(int col = 0; col < width ; col ++)
{
vector<SGM_DP_TYPE> cpd_1 = cpds_1[row*width + col];
vector<SGM_DP_TYPE> cpd_2 = cpds_2[row*width + col];
vector<SGM_DP_TYPE> cpd_3 = cpds_3[row*width + col];
vector<SGM_DP_TYPE> cpd_4 = cpds_4[row*width + col];
vector<SGM_DP_TYPE> cpd_5 = cpds_5[row*width + col];
vector<SGM_DP_TYPE> cpd_6 = cpds_6[row*width + col];
vector<SGM_DP_TYPE> cpd_7 = cpds_7[row*width + col];
vector<SGM_DP_TYPE> cpd_8 = cpds_8[row*width + col];
vector<SGM_DP_TYPE> cpd_o;
for(int u = 0; u < disp_N; u++)
{
SGM_DP_TYPE cpd_1_u = cpd_1[u];
SGM_DP_TYPE cpd_2_u = cpd_2[u];
SGM_DP_TYPE cpd_3_u = cpd_3[u];
SGM_DP_TYPE cpd_4_u = cpd_4[u];
SGM_DP_TYPE cpd_5_u = cpd_1[u];
SGM_DP_TYPE cpd_6_u = cpd_2[u];
SGM_DP_TYPE cpd_7_u = cpd_3[u];
SGM_DP_TYPE cpd_8_u = cpd_4[u];
cpd_o.push_back((cpd_1_u+ cpd_2_u+ cpd_3_u+cpd_4_u+cpd_5_u+ cpd_6_u+ cpd_7_u+cpd_8_u)/8);
//cpd_LR.push_back((cpd_L_u+cpd_R_u)/2);
}
cpds_o.push_back(cpd_o);
}
}
//得到视差图
void SGM::GetDisp(vector< vector<SGM_DP_TYPE> >& cpds, int width, int height,int disp_N,unsigned int *disp)
{
for(int row = 0; row < height; row ++)
for(int col = 0; col <width ; col ++)
{
vector<SGM_DP_TYPE> cpd_LR = cpds[row*width + col];;
vector<SGM_DP_TYPE>::iterator minist = std::min_element(std::begin(cpd_LR), std::end(cpd_LR));
int min_index = minist - std::begin(cpd_LR);
if(disp)
disp[row*width + col] = min_index;
}
}
//亚像素插值
void SGM::subPixelrefine(const Mat &LRcheckout,vector<vector< SGM_DP_TYPE>> spds,Mat &refineout)
{
int height=LRcheckout.rows;
int width=LRcheckout.cols;
refineout=cv::Mat::zeros(LRcheckout.size(),CV_32FC1);
for(int row=0;row<height;row++)
for(int col=0;col<width;col++)
{
if(LRcheckout.at<uchar>(row,col)==0) continue;
else
{
int d= LRcheckout.at<uchar>(row,col);
SGM_DP_TYPE Spd=spds[row*width+col][d];
SGM_DP_TYPE Spd_last=spds[row*width+col][d-1];
SGM_DP_TYPE Spd_next=spds[row*width+col][d+1];
refineout.at<float>(row,col)=d+(Spd_last-Spd_next)/(2*Spd_next+2*Spd_last-4*Spd);
//cout<<"LRcheckout"<<(int)LRcheckout.at<uchar>(row,col)<<endl;
// cout<<"refineout"<<refineout.at<float>(row,col)<<endl;
}
}
}
//显示
void SGM::GenerateFalseMap(cv::Mat &src, cv::Mat &disp)
{
// color map
float max_val = 255.0f;
float map[8][4] = {{0,0,0,114},{0,0,1,185},{1,0,0,114},{1,0,1,174},
{0,1,0,114},{0,1,1,185},{1,1,0,114},{1,1,1,0}};
float sum = 0;
for (int i=0; i<8; i++)
sum += map[i][3];
float weights[8]; // relative weights
float cumsum[8]; // cumulative weights
cumsum[0] = 0;
for (int i=0; i<7; i++) {
weights[i] = sum/map[i][3];
cumsum[i+1] = cumsum[i] + map[i][3]/sum;
}
int height_ = src.rows;
int width_ = src.cols;
// for all pixels do
for (int v=0; v<height_; v++) {
for (int u=0; u<width_; u++) {
// get normalized value
float val = std::min(std::max(src.data[v*width_ + u]/max_val,0.0f),1.0f);
// find bin
int i;
for (i=0; i<7; i++)
if (val<cumsum[i+1])
break;
// compute red/green/blue values
float w = 1.0-(val-cumsum[i])*weights[i];
uchar r = (uchar)((w*map[i][0]+(1.0-w)*map[i+1][0]) * 255.0);
uchar g = (uchar)((w*map[i][1]+(1.0-w)*map[i+1][1]) * 255.0);
uchar b = (uchar)((w*map[i][2]+(1.0-w)*map[i+1][2]) * 255.0);
//rgb内存连续存放
disp.data[v*width_*3 + 3*u + 0] = b;
disp.data[v*width_*3 + 3*u + 1] = g;
disp.data[v*width_*3 + 3*u + 2] = r;
}
}
}
void SGM::ShowcolorDisp(unsigned int *disp, int width, int height, char * name, char *savename, int DMax)
{
//cv::Mat a;//创建矩阵头
// a = cv::imread("f:\\psb.jpg");//读入图像
IplImage * disp_orign = cvCreateImage(cvSize(width, height), 8, 1);//为IplImage型0-255视察图输出申请内存
for (int row = 0; row < height; row++)
for (int col = 0; col < width; col++)
{
float gray = disp[row*width + col] * float(256 / DMax);
disp_orign->imageData[row*width + col] = gray;
}
///IplImage类型转Mat
cv::Mat save = cv::Mat::zeros(disp_orign->height, disp_orign->width, CV_8UC1);
// cv::cvarrToMat(disp_orign).copyTo(save);//IplImage类型（disp_orign）转Mat类型再复制到（save）里面
//转化为彩色输出
equalizeHist(cvarrToMat(disp_orign), save);//直方图均衡化
cv::Mat colorresult = cv::Mat::zeros(height, width, CV_8UC3);//为彩色输出申请内存
GenerateFalseMap(save, colorresult);//调用灰度转彩色函数
//显示并保存
imshow(name, colorresult);
imwrite(savename, colorresult);
//---------------------------------------------------------
cvWaitKey(10);
cvReleaseImage(&disp_orign);
}
void SGM::ShowDispgray(unsigned int *disp, int width, int height, char * name, char *savename, int DMax)
{
//cv::Mat a;//创建矩阵头
// a = cv::imread("f:\\psb.jpg");//读入图像
IplImage * disp_orign = cvCreateImage(cvSize(width, height), 8, 1);//为IplImage型0-255视察图输出申请内存
for (int row = 0; row < height; row++)
for (int col = 0; col < width; col++)
{
float gray = disp[row*width + col] * float(256 / DMax);
disp_orign->imageData[row*width + col] = gray;
}
//Mat dst;
//equalizeHist( Mat(disp_orign), dst );
cvShowImage(name, disp_orign);
cv::Mat save = cv::Mat::zeros(disp_orign->height, disp_orign->width, CV_8UC1);
cv::cvarrToMat(disp_orign).copyTo(save);//IplImage类型（disp_orign）转Mat类型再复制到（save）里面
imwrite(savename, save);
//---------------------------------------------------------
cvWaitKey(10);
cvReleaseImage(&disp_orign);
}
//其他工具
void SGM::uintToMat_8UC1(unsigned int *input,cv::Mat& out ,int height,int width)
{
for(int row=0;row<height;row++)
for(int col=0;col<width;col++)
{
out.at<uchar>(row,col)=*(input+width*row+col);
}
}
void SGM::uintTofloat(unsigned int *input,float *out ,int height,int width)
{
for(int row=0;row<height;row++)
for(int col=0;col<width;col++)
{
*(out+width*row+col)=*(input+width*row+col);
}
}
//输入图像参数不同的立体匹配接口
// 左图，右图，路径（1.2.4），是否显示得到的视差图，lrcheck后的视差图，未lrcheck后的视差图
int SGM::GetDisprity_mat(cv::Mat& img11,cv::Mat &img22,int path,int DMax,bool debug_display, Mat &finaldisp)
{
Mat LRcheckdisp,subrefineout;
Mat rawdisp;//先不用做输出，是以前结口的一部分
//对齐图像
Mat img1_c_s, img2_c_s;
Mat img1, img2;
cv::resize(img11, img1_c_s, cv::Size(img11.cols, img11.rows));
cv::resize(img22, img2_c_s, cv::Size(img22.cols, img22.rows));
// /////////////////
switch (img1_c_s.cols%4)
{
case 1:
{
img1 = Mat::zeros(img1_c_s.rows, img1_c_s.cols + 3, CV_8UC1);
img2 = Mat::zeros(img2_c_s.rows, img2_c_s.cols + 3, CV_8UC1);
for (int row = 0; row < img2_c_s.rows; row++)
for (int col = 0; col < img2_c_s.cols - 3; col++)
{
img1.at<uchar>(row, col) = img1_c_s.data[img1_c_s.step*row + col];
img2.at<uchar>(row, col) = img2_c_s.data[img1_c_s.step*row + col];
}
break;
}
case 2:
{
img1 = Mat::zeros(img1_c_s.rows, img1_c_s.cols + 2, CV_8UC1);
img2 = Mat::zeros(img2_c_s.rows, img2_c_s.cols + 2, CV_8UC1);
for (int row = 0; row < img2_c_s.rows; row++)
for (int col = 0; col < img2_c_s.cols - 2; col++)
{
img1.at<uchar>(row, col) = img1_c_s.data[img1_c_s.step*row + col];
img2.at<uchar>(row, col) = img2_c_s.data[img1_c_s.step*row + col];
}
break;
}
case 3:
{
img1 = Mat::zeros(img1_c_s.rows, img1_c_s.cols + 1, CV_8UC1);
img2 = Mat::zeros(img2_c_s.rows, img2_c_s.cols + 1, CV_8UC1);
for (int row = 0; row < img2_c_s.rows; row++)
for (int col = 0; col < img2_c_s.cols - 1; col++)
{
img1.at<uchar>(row, col) = img1_c_s.data[img1_c_s.step*row + col];
img2.at<uchar>(row, col) = img2_c_s.data[img1_c_s.step*row + col];
}
break;
}
default:
{
img1 = img1_c_s;
img2=img2_c_s;
break;
}
}
if ((img1.rows&& img2.cols) == 0)
{
cout << " picture is not read in " << endl;
system("pause");
return -1;
}
int width = img1.cols;
int height = img1.rows;
unsigned int *disp = new unsigned int[width*height];
uchar *src1 = img1.data;
uchar *src2 = img2.data;
//CT代价
unsigned int *ct1 = new unsigned int[width*height];
unsigned int *ct2 = new unsigned int[width*height];
vector< vector<int> > cpds;
CalulateCT(src1, width, height, ct1);
CalulateCT(src2, width, height, ct2);
hamin(ct1, ct2, DMax, width, height, 100, cpds);
//SAD代价
//vector< vector<float> > cpds;
//SAD(src1,src2, height, width, DMax,3,cpds);
vector<vector<float>> costs_new;
for (int i = 0; i < cpds.size(); i++)
{
vector<SGM_DP_TYPE> cost_new;
for (int u = 0; u < DMax; u++)
{
cost_new.push_back(cpds[i][u]);
}
costs_new.push_back(cost_new);
}
switch (path)
{
case 1:
{
vector<vector<SGM_DP_TYPE>> costs_L;
SGM_DP_L(costs_new, width, height, DMax, disp, src1, costs_L);
GetDisp(costs_L, width, height, DMax, disp);
rawdisp=Mat::zeros(height,width,CV_8UC1);
uintToMat_8UC1(disp, rawdisp , height, width);
//先得到右视差图
unsigned int *rightdisp=new unsigned int [width*height];
GetRightDisp(rightdisp,costs_L, width, height,DMax);
//再LRcheck
unsigned int *LRcheckresult=new unsigned int [width*height];
LRcheck(height, width, disp, rightdisp, LRcheckresult, DMax);
LRcheckdisp=Mat::zeros(height,width,CV_8UC1);
uintToMat_8UC1(LRcheckresult, LRcheckdisp , height, width);
//亚像素插值
subPixelrefine(LRcheckdisp,costs_L,subrefineout);
//中值滤波
medianBlur(subrefineout,finaldisp,3);
if(debug_display)
{
cv::Mat colorresult = cv::Mat::zeros(height, width, CV_8UC3);//为彩色输出申请内存
cv::Mat tmp=LRcheckdisp.clone();
medianBlur(LRcheckdisp,tmp,3);
for(int row=0;row<height;row++)
for(int col=0;col<width;col++)
{
tmp.at<uchar>(row,col)*=(float)256/DMax;//把视差值线性映射到0-255，只为显示。
}
GenerateFalseMap(tmp,colorresult);
imshow(" ",colorresult);
imwrite("colordisp.png",colorresult);
// ShowcolorDisp(disp, width, height, "disp", "disp.jpg", DMax);
// ShowcolorDisp(LRcheckresult, width, height, "LRcheckdisp", "LRcheckdisp.jpg", DMax);
cvWaitKey(10);
}
delete []rightdisp;
delete [] LRcheckresult;
delete []disp;
break;
}
case 2:
{
vector<vector<SGM_DP_TYPE>> costs_L;
vector<vector<SGM_DP_TYPE>> costs_U;
vector<vector<SGM_DP_TYPE>> costs_LU;
SGM_DP_L(costs_new, width, height, DMax, disp, src1, costs_L);
SGM_DP_U(costs_new, width, height, DMax, disp, src1, costs_U);
SGM_DP_avg2(costs_L, costs_U, costs_LU, width, height, DMax);
GetDisp(costs_LU, width, height, DMax, disp);
rawdisp=Mat::zeros(height,width,CV_8UC1);
uintToMat_8UC1(disp, rawdisp , height, width);
//先得到右视差图
unsigned int *rightdisp=new unsigned int [width*height];
GetRightDisp(rightdisp,costs_LU, width, height,DMax);
//再LRcheck
unsigned int *LRcheckresult=new unsigned int [width*height];
LRcheck(height, width, disp, rightdisp, LRcheckresult, DMax);
LRcheckdisp=Mat::zeros(height,width,CV_8UC1);
uintToMat_8UC1(LRcheckresult, LRcheckdisp , height, width);
//亚像素插值
subPixelrefine(LRcheckdisp,costs_LU,subrefineout);
//中值滤波
medianBlur(subrefineout,finaldisp,3);
if(debug_display)