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#include <iostream>
#include <string>
#include <sstream>
#include <iomanip>
#include <stdexcept>
#include <opencv2/core/utility.hpp>
#include "opencv2/cudastereo.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
using namespace cv;
using namespace std;
bool help_showed = false;
struct Params
{
Params();
static Params read(int argc, char** argv);
string left;
string right;
string method_str() const
{
switch (method)
{
case BM: return "BM";
case BP: return "BP";
case CSBP: return "CSBP";
}
return "";
}
enum {BM, BP, CSBP} method;
int ndisp; // Max disparity + 1
};
struct App
{
App(const Params& p);
void run();
void handleKey(char key);
void printParams() const;
void workBegin() { work_begin = getTickCount(); }
void workEnd()
{
int64 d = getTickCount() - work_begin;
double f = getTickFrequency();
work_fps = f / d;
}
string text() const
{
stringstream ss;
ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
<< setprecision(4) << work_fps;
return ss.str();
}
private:
Params p;
bool running;
Mat left_src, right_src;
Mat left, right;
cuda::GpuMat d_left, d_right;
Ptr<cuda::StereoBM> bm;
Ptr<cuda::StereoBeliefPropagation> bp;
Ptr<cuda::StereoConstantSpaceBP> csbp;
int64 work_begin;
double work_fps;
};
static void printHelp()
{
cout << "Usage: stereo_match\n"
<< "\t--left <left_view> --right <right_view> # must be rectified\n"
<< "\t--method <stereo_match_method> # BM | BP | CSBP\n"
<< "\t--ndisp <number> # number of disparity levels\n";
help_showed = true;
}
int main(int argc, char** argv)
{
try
{
if (argc < 2)
{
printHelp();
return 1;
}
Params args = Params::read(argc, argv);
if (help_showed)
return -1;
App app(args);
app.run();
}
catch (const exception& e)
{
cout << "error: " << e.what() << endl;
}
return 0;
}
Params::Params()
{
method = BM;
ndisp = 64;
}
Params Params::read(int argc, char** argv)
{
Params p;
for (int i = 1; i < argc; i++)
{
if (string(argv[i]) == "--left") p.left = argv[++i];
else if (string(argv[i]) == "--right") p.right = argv[++i];
else if (string(argv[i]) == "--method")
{
if (string(argv[i + 1]) == "BM") p.method = BM;
else if (string(argv[i + 1]) == "BP") p.method = BP;
else if (string(argv[i + 1]) == "CSBP") p.method = CSBP;
else throw runtime_error("unknown stereo match method: " + string(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--ndisp") p.ndisp = atoi(argv[++i]);
else if (string(argv[i]) == "--help") printHelp();
else throw runtime_error("unknown key: " + string(argv[i]));
}
return p;
}
App::App(const Params& params)
: p(params), running(false)
{
cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
cout << "stereo_match_gpu sample\n";
cout << "\nControls:\n"
<< "\tesc - exit\n"
<< "\tp - print current parameters\n"
<< "\tg - convert source images into gray\n"
<< "\tm - change stereo match method\n"
<< "\ts - change Sobel prefiltering flag (for BM only)\n"
<< "\t1/q - increase/decrease maximum disparity\n"
<< "\t2/w - increase/decrease window size (for BM only)\n"
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
}
void App::run()
{
// Load images
left_src = imread(p.left);
right_src = imread(p.right);
if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
// Set common parameters
bm = cuda::createStereoBM(p.ndisp);
bp = cuda::createStereoBeliefPropagation(p.ndisp);
csbp = cv::cuda::createStereoConstantSpaceBP(p.ndisp);
// Prepare disparity map of specified type
Mat disp(left.size(), CV_8U);
cuda::GpuMat d_disp(left.size(), CV_8U);
cout << endl;
printParams();
running = true;
while (running)
{
workBegin();
switch (p.method)
{
case Params::BM:
if (d_left.channels() > 1 || d_right.channels() > 1)
{
cout << "BM doesn't support color images\n";
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
cout << "image_channels: " << left.channels() << endl;
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
}
bm->compute(d_left, d_right, d_disp);
break;
case Params::BP: bp->compute(d_left, d_right, d_disp); break;
case Params::CSBP: csbp->compute(d_left, d_right, d_disp); break;
}
workEnd();
// Show results
d_disp.download(disp);
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
imshow("disparity", (Mat_<uchar>)disp);
handleKey((char)waitKey(3));
}
}
void App::printParams() const
{
cout << "--- Parameters ---\n";
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
cout << "image_channels: " << left.channels() << endl;
cout << "method: " << p.method_str() << endl
<< "ndisp: " << p.ndisp << endl;
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm->getBlockSize() << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
break;
case Params::BP:
cout << "iter_count: " << bp->getNumIters() << endl;
cout << "level_count: " << bp->getNumLevels() << endl;
break;
case Params::CSBP:
cout << "iter_count: " << csbp->getNumIters() << endl;
cout << "level_count: " << csbp->getNumLevels() << endl;
break;
}
cout << endl;
}
void App::handleKey(char key)
{
switch (key)
{
case 27:
running = false;
break;
case 'p': case 'P':
printParams();
break;
case 'g': case 'G':
if (left.channels() == 1 && p.method != Params::BM)
{
left = left_src;
right = right_src;
}
else
{
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
}
d_left.upload(left);
d_right.upload(right);
cout << "image_channels: " << left.channels() << endl;
imshow("left", left);
imshow("right", right);
break;
case 'm': case 'M':
switch (p.method)
{
case Params::BM:
p.method = Params::BP;
break;
case Params::BP:
p.method = Params::CSBP;
break;
case Params::CSBP:
p.method = Params::BM;
break;
}
cout << "method: " << p.method_str() << endl;
break;
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm->getPreFilterType())
{
case 0:
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
break;
case cv::StereoBM::PREFILTER_XSOBEL:
bm->setPreFilterType(0);
break;
}
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case '2':
if (p.method == Params::BM)
{
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case '3':
if (p.method == Params::BP)
{
bp->setNumIters(bp->getNumIters() + 1);
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumIters(csbp->getNumIters() + 1);
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case 'e': case 'E':
if (p.method == Params::BP)
{
bp->setNumIters(max(bp->getNumIters() - 1, 1));
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumIters(max(csbp->getNumIters() - 1, 1));
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case '4':
if (p.method == Params::BP)
{
bp->setNumLevels(bp->getNumLevels() + 1);
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumLevels(csbp->getNumLevels() + 1);
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
case 'r': case 'R':
if (p.method == Params::BP)
{
bp->setNumLevels(max(bp->getNumLevels() - 1, 1));
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumLevels(max(csbp->getNumLevels() - 1, 1));
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
}
}
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